Full-automatic pressure vessel pickling crawler-type pickling vehicle and pickling method

Abstract

The invention provides a full-automatic pressure vessel pickling crawler-type pickling vehicle and a pickling method.The full-automatic pressure vessel pickling crawler-type pickling vehicle comprises a crawler-type pickling vehicle body, a first mechanical arm, a second mechanical arm, a spraying telescopic pipe, a pickling pipe and a controller, the crawler-type pickling vehicle body comprises two crawler belts, and the first mechanical arm is arranged at the top of the crawler-type pickling vehicle body and driven by a first driving part to stretch out and draw back; the second mechanical arm is arranged at the tail end of the second mechanical arm and is driven by the second driving part to rotate, the spraying telescopic pipe is arranged at the tail end of the second mechanical arm, the pickling pipe sequentially penetrates into the first mechanical arm and the second mechanical arm, the spraying telescopic pipe is connected with the circular ring type shower nozzle, and the pickling pipe provides pickling liquid through the pickling liquid supply device. The horizontal pressure vessel is cleaned by adopting a full-automatic pickling method of the crawler-type pickling vehicle, and the horizontal pressure vessel can be cleaned in all directions.

Description

Technical Field

[0001] The invention relates to the technical field of pressure vessel cleaning, and in particular to a fully automatic pressure vessel pickling crawler pickling vehicle and a pickling method. Background Art

[0002] Pressure vessels are widely used and play an important role in many sectors such as industry and civil use, as well as in many fields of scientific research. Most pressure vessels are made of stainless steel and are widely used because of their good corrosion resistance and superior machining performance. In engineering, the pickling and passivation treatment method is widely used to make it have better corrosion resistance. Therefore, the pickling and passivation treatment of pressure vessels is a very important part of production. With the continuous development of modern industry, the application of pressure vessels is becoming more and more extensive, and the pickling and passivation treatment is becoming more and more important.

[0003] The purpose of pickling is to remove the oxide scale. Two common methods are acid pickling and acid paste pickling. Acid pickling can be divided into two methods: brushing and immersion. The surface of the pressure vessel after pickling passivation should be uniform silver-white and have no obvious signs of rust. At present, my country still lacks standard pickling process specifications, and there are few research reports on the pickling treatment of pressure vessels. In particular, the pickling work on the inner wall of the pressure vessel is very difficult. If the artificial pickling method is used, it will not only cause great harm to the human body, but also the quality of the pickling operation cannot be guaranteed. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a fully automatic pressure vessel pickling crawler pickling vehicle and a pickling method, which uses a crawler pickling vehicle to fully automatically pickle the horizontal pressure vessel, and can perform all-round cleaning of the horizontal pressure vessel.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A fully automatic pressure vessel pickling crawler pickling vehicle, comprising:

[0007] A crawler pickling vehicle comprises two crawlers arranged at a certain distance from each other;

[0008] A first mechanical arm is vertically arranged on the top of the crawler pickling vehicle, and the first mechanical arm is driven to extend and retract by a first driving member;

[0009] A second mechanical arm is horizontally arranged at the end of the second mechanical arm, and the second mechanical arm is driven to rotate by a second driving member;

[0010] A spray telescopic pipe, arranged at the end of the second mechanical arm and inclined at a certain angle relative to the second mechanical arm;

[0011] A pickling pipe is sequentially inserted into the first mechanical arm, the second mechanical arm, the spray telescopic pipe and connected to the annular shower nozzle, and the pickling pipe is provided with pickling liquid through a pickling liquid supply device;

[0012] The controller includes a telescopic control module, a rotation control module and a traction control system. The telescopic control module is used to control the first driving member to drive the first mechanical arm to telescope, and the rotation control module controls the second driving member to drive the second mechanical arm to rotate. The traction control system is used to use a traction sensor to monitor the traction of each track and adjust the traction of each track through a traction regulator.

[0013] Furthermore, the pickling liquid supply device includes a pressure acid liquid tank, a pickling pipe, a flow control valve, a liquid level sensor and a pressure gauge. The pressure acid liquid tank is provided with pickling liquid. The pickling pipe includes a first output pipe and a second output pipe. One end of the first output pipe is connected to the pressure acid liquid tank for outputting the pickling liquid. The first output pipe is provided with a flow control valve for controlling the flow rate of the pickling liquid. The other end of the first output pipe is connected to the second output pipe. The second output pipe is sequentially penetrated into the first mechanical arm, the second mechanical arm, the spray telescopic pipe and the annular shower nozzle. The liquid level sensor and the pressure gauge are used to monitor the liquid level and pressure changes in the pressure acid liquid tank. The flow rate of the pickling liquid is controlled by adjusting the pressure of the pressure acid liquid tank. A plurality of pulleys are provided in the internal cavities of the first mechanical arm and the second mechanical arm. The second output pipe is tangent to the pulleys and ensures a certain degree of lubrication between the contact surfaces.

[0014] Furthermore, it also includes a pickling pipe coiling device, which includes a first support base, a rotating shaft, a third driving member and a support top plate, one end of the rotating shaft is rotatably connected to the first support base and driven to rotate by the third driving member, and the other end of the rotating shaft is rotatably connected to the support top plate, the support top plate is arranged above the first support base and fixedly connected to the first support base by a connecting rod, and the first output pipe is wound around the rotating shaft.

[0015] Further, the first robotic arm includes a third support base and a support arm, the third support base has a cavity for accommodating the support arm, the support arm and the third support base are slidably connected, the third support base is provided with a cross-shaped sliding groove, the support arm is provided with a cross-shaped sliding block matching the cross-shaped sliding groove, and the support arm is driven by a first driving member to extend and retract relative to the third support base to enable the first robotic arm to extend and retract.

[0016] Furthermore, the tracked pickling vehicle also includes a power distribution system and an electronic control unit. The power distribution system includes a drive wheel and a drive motor for driving the drive wheel to rotate. The drive wheel is used to drive the track to rotate. The drive motor is electrically connected to the electronic control unit. The electronic control unit uses an adaptive algorithm to adjust the speed of the drive motor according to different working conditions.

[0017] A fully automatic pressure vessel pickling crawler pickling method comprises the following steps:

[0018] The pickling liquid supply device is arranged outside the horizontal pressure vessel, and the crawler-type pickling vehicle is started;

[0019] Place the crawler pickling vehicle at the lowest point of the pressure vessel corresponding to the part of the pressure vessel that needs to be cleaned;

[0020] The pickling liquid supply device supplies pickling liquid to the annular shower nozzle through the pickling pipe;

[0021] Controlling the first mechanical arm to extend and retract to a preset position so that the geometric center of the second mechanical arm located at the end of the first mechanical arm is on the central axis of the horizontal pressure vessel;

[0022] Control the second mechanical arm to rotate so that the spray telescopic pipe and the annular shower nozzle can rotate with the second mechanical arm;

[0023] A traction sensor is used to monitor the traction of each track and a traction regulator is used to adjust the traction of each track so that the track-type pickling vehicle travels along the axial direction of the horizontal pressure vessel to pickle the inner wall of the horizontal pressure vessel.

[0024] Further, the method of using the traction sensor to monitor the traction of each track through the traction control system and adjusting the traction of each track through the traction regulator is as follows:

[0025] A weight sensor is used to obtain the load of the crawler pickling vehicle, and the initial traction forces of the two crawlers are set to be the first traction forces based on the load;

[0026] The current slope is obtained based on the slope sensor, and the driving state of the crawler pickling vehicle is determined according to the current slope, and the driving state is uphill, downhill or flat road;

[0027] The initial traction of the two tracks is adjusted based on the driving conditions.

[0028] Furthermore, when the driving state is uphill, the first traction force is increased to a second traction force;

[0029] A resistance sensor is used to obtain the friction between the track and the bottom of the pressure vessel. When the driving state is uphill and the friction is greater than the first friction threshold, the second traction force continues to increase to the fourth traction force. When the driving state is uphill and the friction is less than or equal to the first friction threshold, the second traction force is maintained.

[0030] Furthermore, when the driving state is downhill, the first traction force is reduced to a third traction force;

[0031] When the driving state is downhill and the friction force is less than or equal to the second friction force threshold, the third traction force continues to be reduced to the fifth traction force; when the driving state is downhill and the friction force is greater than or equal to the second friction force threshold, the third traction force is maintained.

[0032] Further, when the driving state is downhill, it is determined whether the crawler pickling vehicle is driving in a straight line, turning or tilting;

[0033] When the crawler pickling vehicle is traveling in a straight line, the first traction force is maintained;

[0034] When the crawler pickling vehicle turns, the first traction force of the inner crawler track is adjusted to be reduced to the sixth traction force, and the first traction force of the inner crawler track is adjusted to be increased to the seventh traction force;

[0035] When the crawler-type pickling vehicle is tilted, the first traction force for adjusting the crawler track on the low side is increased to the eighth traction force, and the first traction force for adjusting the crawler track on the high side is reduced to the ninth traction force.

[0036] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0037] The present invention provides a fully automatic pressure vessel pickling crawler pickling vehicle and a pickling method. A pickling liquid supply device is arranged outside a horizontal pressure vessel, the crawler pickling vehicle is started, the position of the crawler pickling vehicle is adjusted, the crawler pickling vehicle is placed at the open end of the horizontal pressure vessel, the pickling pipe provides pickling liquid to the annular shower nozzle through the pickling liquid supply device, the first mechanical arm is extended and retracted to reach a preset position so that the second mechanical arm arranged at the end of the first mechanical arm is on the central axis of the pressure vessel, the second mechanical arm is rotated, and the pickling pipe and the annular shower nozzle at the end of the pickling pipe can rotate relative to the second mechanical arm, a traction sensor is used to monitor the traction of each crawler and the traction of each crawler is adjusted by a traction regulator, so that the crawler pickling vehicle moves to spray the pickling liquid on the inside of the horizontal pressure vessel in all directions, the degree of automation is high, the cleaning efficiency is high, and it is not easy to cause damage to the human body.

[0038] The crawler has a large contact area, which can better disperse the weight, has high stability, strong load-bearing capacity, and can bear greater weight. It can also operate in slippery environments, has strong adaptability to harsh environments, and can better adapt to the environment after acid spraying in the pipeline. Steering can be achieved by variable speed driving of one side of the crawler, so the vehicle can be flexibly controlled, and can turn even in a narrow space, with better controllability. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0040] Figure 1 It is a structural schematic diagram of the crawler type pickling vehicle of the present invention;

[0041] Figure 2 is a schematic diagram of the transmission of the second mechanical arm of the present invention;

[0042] Figure 3 It is a schematic diagram of the operation of the crawler type pickling vehicle of the present invention;

[0043] Figure 4 The electrical connection diagram of the crawler type pickling vehicle of the present invention;

[0044] Figure 5 The present invention is a flow chart of the fully automatic pressure vessel pickling crawler pickling method.

[0045] Among them, 1. crawler pickling vehicle; 11. crawler; 2. first mechanical arm; 21. third supporting base; 22. supporting arm; 3. second mechanical arm; 4. spray telescopic pipe; 5. circular shower nozzle; 6. pickling liquid supply device; 61. acid liquid tank; 62. first output pipeline; 63. second output pipeline; 64. pulley; 65. first supporting base; 66. rotating shaft; 67. second supporting base; 68. supporting top plate; 69. connecting rod; 7. horizontal pressure vessel; 8. adapter elbow; 9. first transmission gear; 10. second transmission gear. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are 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 cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0048] Example 1

[0049] Embodiment 1 provides a fully automatic pressure vessel pickling crawler pickling vehicle 1, such as Figure 1 , Figure 3 and Figure 4 As shown, it includes a crawler pickling vehicle 1, a first mechanical arm 2, a second mechanical arm 3, a spray telescopic pipe 4, a pickling pipe, a traction control system and a controller.

[0050] The crawler type pickling vehicle 1 comprises two crawlers 11 arranged at a certain distance;

[0051] The first mechanical arm 2 is vertically arranged on the top of the crawler pickling vehicle 1, and the first mechanical arm 2 is driven to extend and retract by a first driving member;

[0052] The second mechanical arm 3 is horizontally arranged at the end of the second mechanical arm 3, and the second mechanical arm 3 is driven to rotate by the second driving member;

[0053] The spray telescopic pipe 4 is arranged at the end of the second mechanical arm 3 and is inclined at a certain angle relative to the second mechanical arm 3. The inclination angle is usually 90 to 135 degrees, so that the spray telescopic pipe 4 makes a circular motion around the axis as the second mechanical arm 3 rotates. A switching elbow 8 is fixed at the end of the second mechanical arm 3. The spray telescopic pipe 4 is a hollow and retractable pipe. One end of the spray telescopic pipe 4 is fixed in the switching elbow 8, and the other end is suspended. The annular shower nozzle 5 is arranged on the outside of the other end;

[0054] The pickling pipe is sequentially inserted into the first mechanical arm 2, the second mechanical arm 3, the spray telescopic pipe 4 is connected to the annular shower nozzle 5, and the pickling pipe is provided with pickling liquid through the pickling liquid supply device 6;

[0055] The controller includes a telescopic control module, a rotation control module and a traction control system. The telescopic control module is used to control the first driving member to drive the first mechanical arm 2 to telescope, and the rotation control module controls the second driving member to drive the second mechanical arm 3 to rotate. The traction control system is used to use a traction sensor to monitor the traction of each track 11 and adjust the traction of each track 11 through a traction regulator.

[0056] The present embodiment provides a fully automatic pressure vessel pickling crawler pickling vehicle 1. Since the horizontal pressure vessel 7 is usually large, manual cleaning is difficult and easily causes harm to the human body. During use, the pickling liquid providing device is arranged outside the horizontal pressure vessel 7, the crawler pickling vehicle 1 is started, the position of the crawler pickling vehicle 1 is adjusted, and the crawler pickling vehicle 1 is placed at the open end of the horizontal pressure vessel 7. The pickling pipe provides pickling liquid to the annular shower nozzle 5 through the pickling liquid providing device, the first mechanical arm 2 is extended and retracted to reach a preset position so that the second mechanical arm 3 arranged at the end of the first mechanical arm 2 is on the central axis of the pressure vessel, the second mechanical arm 3 is rotated, and the pickling pipe and the annular shower nozzle 5 at the end of the pickling pipe can rotate relative to the second mechanical arm 3, a traction sensor is used to monitor the traction of each crawler 11, and the traction of each crawler 11 is adjusted by a traction regulator, so that the crawler pickling vehicle 1 moves to spray the pickling liquid on the inside of the horizontal pressure vessel 7 in an all-round manner, with a high degree of automation, high cleaning efficiency, and not easy to cause harm to the human body.

[0057] The crawler track 11 of this embodiment has a large contact area, can better disperse the weight, has high stability, strong carrying capacity, and can bear a larger weight. It can also operate in a slippery environment, has strong adaptability to harsh environments, and can better adapt to the environment after acid spraying in the pipeline. Turning can be achieved by variable speed driving of the single-side crawler track 11, so the vehicle can be flexibly controlled, and turning can be achieved even in a narrow space, and the controllability is better.

[0058] The motor and all electronic control devices in this embodiment are powered by rechargeable lithium batteries, which can provide larger capacity, higher energy density, faster charging speed and stronger durability, thereby effectively improving the working performance of the pickling trolley.

[0059] The crawler track 11 of this embodiment is made of chlorosulfonated polyethylene rubber material, which has excellent acid and alkali resistance. The upper plate surface of the vehicle body is the main load-bearing surface and should have high dent resistance and corrosion resistance. BH steel (bake hardened steel) can be used.

[0060] In this embodiment, Figure 1As shown, the pickling liquid supply device 6 includes a pressure acid liquid tank 61, a pickling pipe, a flow control valve, a liquid level sensor and a pressure gauge. One end of the first output pipe 62 is connected to the pressure acid liquid tank 61 for outputting the pickling liquid. The first output pipe 62 is provided with a flow control valve for controlling the flow of the pickling liquid. The other end of the first output pipe 62 is detachably connected to the second output pipe 63. The second output pipe 63 sequentially penetrates the first mechanical arm 2, the second mechanical arm 3, the spray telescopic pipe 4 and is connected to the annular shower nozzle 5. The liquid level sensor and the pressure gauge are used to monitor the liquid level and pressure changes in the pressure acid liquid tank 61. The flow rate of the pickling liquid is controlled by adjusting the pressure of the pressure acid liquid tank 61. A plurality of pulleys 64 are provided in the internal cavities of the first mechanical arm 2 and the second mechanical arm 3. The second output pipe 63 is tangent to the pulley 64 and ensures that there is a certain amount of lubrication between the contact surfaces. During use, by opening the flow control valve, the pickling liquid sequentially passes through the first output pipe 62 and the second output pipe 63 to the annular shower nozzle 5, and is sprayed on the inner wall of the horizontal pressure container 7 under the action of pressure.

[0061] In this embodiment, the acid liquid tank 61 is a pressure acid liquid tank, the first output pipe 62 and the second output pipe 63 are corrosion-resistant PVC reinforced hoses, and the effective operation of the pickling operation is ensured by providing a pickling liquid providing device. The acid liquid tank 61 is fixed on the second support base 67.

[0062] In this embodiment, Figure 1 As shown, it also includes a hose storage device, which includes a first support base 65, a rotating shaft 66, a third driving member and a support top plate 68. One end of the rotating shaft 66 is rotatably connected to the first support base 65 and is driven to rotate by the third driving member. The other end of the rotating shaft 66 is rotatably connected to the support top plate 68. The support top plate 68 is arranged above the first support base 65 and is fixedly connected to the first support base 65 by a connecting rod 69. The first output pipe 62 is arranged around the rotating shaft 66.

[0063] In this embodiment, during use, the third driving member drives the rotating shaft 66 to rotate, and then outputs the first output pipe 62, ensuring that the crawler pickling vehicle 1 moves in the horizontal pressure vessel 7 to spray the pickling liquid in all directions inside the horizontal pressure vessel 7. Among them, the third driving member is a stepping motor. The hose storage device can automatically adjust the extension and retraction length of the first output pipe 62 according to the change in the length of the area to be cleaned in the horizontal pressure vessel 7, and can also pre-set a fixed distance from the annular shower nozzle 5 to the inner wall of the horizontal pressure vessel 7, thereby ensuring the uniformity and stability of the pressure vessel pickling operation.

[0064] In this embodiment, Figure 1As shown, the first mechanical arm 2 includes a third support base 21 and a support arm 22, the third support base 21 has a cavity for accommodating the support arm 22, the support arm 22 and the third support base 21 are slidably connected, the third support base 21 is provided with a cross-shaped sliding groove, the support arm 22 is provided with a cross-shaped sliding block matching the cross-shaped sliding groove, and the support arm 22 is driven by the first driving member to extend and retract relative to the third support base 21 so as to extend and retract the first mechanical arm 2. Among them, the second driving member is any one of an electric push rod, a hydraulic rod and a pneumatic rod, which is not limited in this embodiment.

[0065] In this embodiment, the second robotic arm 3 is driven to rotate by a second driving member so that the pickling pipe and the annular shower nozzle 5 can achieve 360° rotation. The second driving member is a stepping motor. Specifically, the second driving member can be directly connected to the second robotic arm 3 or indirectly connected through other components.

[0066] In the specific implementation manner of this embodiment, Figure 2 As shown, when the second driving member can be directly connected to the second robotic arm 3, the output shaft of the second driving member is fixed to the second robotic arm 3; when the second driving member is indirectly connected to the second robotic arm 3, the first transmission gear 9 is fixed on the output shaft of the second driving member, and the second robotic arm 3 is fixed with a second transmission gear 10 meshing with the first transmission gear 9.

[0067] Taking into account the particularity of the working environment, in order to fully enhance the driving anti-skid performance of the pressure vessel pickling automatic trolley, this design adopts a multi-system integration solution, including traction control system, slope control system, power distribution system, etc. The comprehensive application of these systems has greatly improved the stability of the vehicle's driving direction and the reliability of operation, and effectively prevented the track 11 from slipping.

[0068] The traction control system is an important component of the crawler pickling vehicle 1. Its main function is to monitor and adjust the traction of each crawler 11 to ensure that the vehicle has good traction performance under different terrains and working conditions. The crawler pickling vehicle 1 is usually used in the pickling process of industrial equipment. Its working environment is complex and changeable, such as inside a pressure vessel, in a pipeline or in a narrow area, etc. These environments place high demands on the stability and traction performance of the vehicle. The traction system of the conventional crawler 11 vehicle cannot be dynamically adjusted according to the real-time working conditions, which may cause the vehicle to lose traction on complex terrain or lack traction when the load changes. Such a system usually uses various sensors and actuators to achieve its functions. The traction control system uses traction sensors to monitor the traction level of each crawler 11. These sensors are installed near the drive wheels and can accurately measure the traction between the crawler 11 and the ground. The core of the traction control system is the electronic control unit, which receives data from the traction sensor and other sensors and adjusts the traction of each crawler 11 according to the preset algorithm and logic. The traction control system is equipped with adjustable traction regulators, which can increase or decrease the traction of each crawler 11 as needed. The traction is adjusted by adjusting the pressure or tension of the track 11. The traction control system uses an algorithm to determine the ideal traction level of each track 11 and adjusts the traction distribution according to the real-time working conditions. The traction control system usually adopts closed-loop feedback control, that is, the output of the traction regulator is adjusted according to the feedback information of the traction sensor. This ensures that the system can respond to the changing working conditions in a timely manner and keep the vehicle in the best traction state.

[0069] By effectively monitoring and adjusting the traction of each track 11, the traction control system can improve the performance and reliability of the tracked pickling vehicle 1 under various terrains and working conditions, thereby ensuring that the vehicle can operate safely and efficiently.

[0070] The design of the traction control system needs to take into account the diversity of working conditions to ensure stable and efficient traction distribution under different terrains and workloads. To adjust the traction according to different working conditions:

[0071] Terrain type: For different types of terrain, such as flat or with a certain slope, the system can adjust the traction of each track 11 according to the terrain characteristics. For example, in the case of a larger slope, the system can increase the traction of the track 11 to provide better climbing performance. On flat terrain, the traction of each track 11 is evenly distributed.

[0072] Load weight: When the machine carries different weights of goods or equipment, the traction requirements will also change. The system can dynamically adjust the distribution of traction according to the real-time load weight to ensure sufficient traction to drive the entire system. For example, when the trolley enters the depth of the pressure vessel, the resistance brought by the acid pipe gradually increases, and the traction also gradually increases. When the vehicle carries a heavier load, the system automatically increases traction to ensure that the vehicle will not stall due to insufficient traction.

[0073] Speed ​​and acceleration: If the machine needs to accelerate or decelerate, the distribution of traction also needs to be adjusted accordingly. The system can dynamically adjust the traction of each track 11 according to the target speed and acceleration requirements to achieve a smooth acceleration and deceleration process.

[0074] Resistance and friction: Taking into account the coefficient of friction of the ground and the resistance between the machine and the ground, the system can adjust the distribution of traction according to the real-time resistance situation to minimize energy loss and maximize efficiency.

[0075] Sensor feedback: Traction control systems are usually equipped with various sensors to monitor parameters such as ground conditions, load weight, speed, etc. The system can adjust the distribution of traction based on the real-time feedback information provided by these sensors to adapt to changing working conditions.

[0076] Taking the above factors into consideration, the traction control system can calculate the ideal traction level of each track 11 through a real-time algorithm, and dynamically adjust the distribution of traction according to different working conditions, thereby achieving stable and efficient traction control.

[0077] A grade control system is a technology used to control a vehicle on a steep slope. When running on a slope, it is easy for the vehicle to slide down or lose control due to the influence of gravity. It can ensure that the vehicle remains stable when going uphill or downhill, and can effectively cope with various terrains and working conditions. The system can dynamically adjust the braking force and traction when the vehicle goes uphill and downhill to ensure the stability, safety and handling performance of the vehicle under different slope conditions. The system usually includes the following main aspects: The grade control system uses grade sensors to monitor the slope angle of the vehicle. These sensors are installed on the chassis of the crawler pickling vehicle 1 and can accurately measure the inclination angle of the crawler pickling vehicle 1 relative to the horizontal plane. The core of the grade control system is the electronic control unit, which receives data from the grade sensor and other sensors, and controls the vehicle's movement according to preset algorithms and logic, controlling the vehicle's driving action on the slope to maintain stability on the slope. The grade control system usually uses the vehicle's braking system to help control the speed and stability of the vehicle on the slope. The system can automatically adjust the braking force according to the data of the slope sensor. The system controls the speed of the vehicle through the brake, and increases the braking force according to the slope angle when going downhill to prevent the vehicle from sliding down or accelerating too fast. The slope control system can also adjust the traction distribution of the vehicle. By connecting with the slope sensor in real time, the system can quickly apply sufficient traction when the slope is large to ensure that each track 11 can obtain sufficient traction when going uphill, and will not stagnate or slip due to insufficient traction, thereby improving the vehicle's climbing ability. At the same time, the system can gradually release the braking force to ensure that the vehicle passes smoothly on a relatively mild slope. In addition, the system can automatically adjust the traction distribution according to the real-time road conditions, such as wet, dry, etc., to improve the vehicle's climbing ability under complex road conditions. The system adopts closed-loop feedback control, which can quickly respond to changes in slope conditions and ensure that the vehicle maintains the best operating state under various slopes and road conditions.

[0078] The design of the grade control system needs to take into account the parameters of the slope as well as the speed and load of the vehicle to ensure stable speed and good handling on the slope. The braking force is adjusted according to the parameters of the slope:

[0079] Slope angle: Slope angle is one of the important parameters that affect the braking force required when the vehicle is going uphill or downhill. Generally, the steeper the slope angle, the greater the braking force required. Therefore, the system can adjust the distribution of braking force according to the real-time slope angle detected by the slope sensor. In the case of a large slope, the system will increase the braking force to prevent the vehicle from sliding down. On a gentler slope, the system will reduce the braking force to ensure that the vehicle moves forward smoothly.

[0080] Road conditions: The conditions in the pipeline, such as dryness or wetness, will affect the traction and braking effect of the car on the slope. According to the changes in road friction, the system will dynamically adjust the braking force and traction distribution. The system can adjust the distribution of braking force according to the changes in road conditions to ensure that a stable braking effect can be provided under different road conditions.

[0081] Vehicle load and speed: The load and speed of the vehicle will also affect the braking force required on the ramp. Heavier loads or higher speeds may require more braking force to control the speed and stability of the vehicle. When the vehicle is loaded or moving at a higher speed, the system will automatically increase the braking force to ensure that the vehicle does not lose control due to excessive load or speed. At the same time, the system will smoothly adjust the traction force according to the acceleration or deceleration requirements to achieve good acceleration and deceleration performance. Therefore, the system can adjust the distribution of braking force based on real-time load and speed data.

[0082] Taking all the above factors into consideration, the slope control system can adjust the distribution of braking force according to the parameters of the slope and the state of the car through a real-time algorithm to ensure that the car can maintain a stable speed and good handling when going uphill or downhill.

[0083] Through these components, the hill descent control system ensures that the vehicle remains stable when going uphill or downhill and provides optimal handling and safety.

[0084] The power distribution system is one of the key components in the chassis of the crawler pickling vehicle 1. It is responsible for managing and adjusting the driving force of the vehicle to ensure that each crawler 11 can get appropriate traction, thereby improving the vehicle's handling, stability and performance under different terrains and working conditions. The traditional power distribution system cannot intelligently identify the real-time terrain and working conditions, which can easily cause the crawler 11 to slip or lack of power, affecting the vehicle's operating performance. The power distribution system adjusts the driving force distribution of the crawler 11 according to the current working conditions and terrain characteristics of the vehicle. The system can dynamically respond to changing environmental conditions, prevent the crawler 11 from losing traction, improve the vehicle's passability and stability, and ensure the vehicle's optimal operating state under different terrains. This means that the traction of the crawler 11 can be increased or decreased when necessary to ensure that the vehicle can effectively move forward, turn or pass obstacles. In some cases, especially when encountering muddy or slippery terrain, the power distribution system can prevent the vehicle from being unable to move forward due to the loss of traction of one crawler 11 by locking or limiting the action of the differential. This helps to improve the vehicle's passability and stability. The power distribution system is usually integrated with the vehicle's electronic control unit (ECU), monitoring vehicle status and driver input through sensors and making adjustments as needed. This allows the system to respond quickly to changing operating conditions and environments, ensuring that the vehicle always maintains optimal handling and stability.

[0085] The power distribution system is usually integrated with the trolley's electronic control unit (ECU), which monitors the trolley's status through sensors and makes adjustments as needed. The ECU uses an adaptive algorithm to dynamically adjust the traction distribution according to different working conditions to ensure that each track 11 is in the best traction state.

[0086] Sensor data monitoring: The system first monitors the status of the vehicle in real time through various sensors (such as vehicle speed sensor, steering angle sensor, brake pressure sensor, etc.), including vehicle speed, steering angle, braking status, etc., as well as road conditions (such as steep slopes, slippery roads, etc.). These sensors are installed on the chassis of the crawler pickling vehicle 1 and can collect the operating status of each track 11 of the vehicle and the external environment in real time.

[0087] Data processing and algorithm analysis: The ECU processes sensor data and runs a pre-set algorithm to determine the current working conditions and environment of the vehicle and evaluate whether the power distribution needs to be adjusted. The system dynamically adjusts the driving force distribution of each track 11 by analyzing the data from the sensor. For example, when the vehicle is driving on muddy or slippery terrain, the system will reduce the driving force of the track 11 that has lost traction and increase the traction of other tracks 11 to ensure that the vehicle can move forward stably.

[0088] Power distribution adjustment: ECU is the core control unit of the system. It processes sensor data through adaptive algorithms, determines the current working conditions, and adjusts power distribution. According to the results of algorithm analysis, ECU can adjust power distribution. The algorithm built into ECU can dynamically optimize driving force according to the real-time status of the vehicle and environmental conditions. To maintain the controllability and stability of the car. The specific adjustment method includes: when going uphill, the system will automatically increase the engine output power according to the slope angle, load and traction requirements, and adjust the traction distribution of each track 11 to prevent the vehicle from slipping or skidding due to insufficient power. When going downhill, the system will adjust the braking force and traction of the track 11 to ensure that the vehicle can decelerate stably and will not accelerate too fast or lose control due to gravity. At the same time, the system can gradually increase the braking force according to the data of the slope sensor to ensure that the vehicle passes the steep slope smoothly. On a slippery pipeline, the power distribution system will reduce the motor output power to prevent the track 11 from slipping, and automatically adjust the braking force and traction distribution of the track 11 to ensure the stability of the vehicle on low-friction roads. When the vehicle turns, the system will appropriately reduce the driving force of the inner track 11 according to the steering angle and increase the driving force of the outer track 11 to ensure the steering flexibility of the vehicle and improve the steering performance of the vehicle; when the vehicle body tilts, the system will increase the traction of the low side track 11 to prevent the vehicle from overturning or losing stability and maintain the stability of the vehicle.

[0089] Differential locking and limiting function: When the vehicle is driving in a complex environment, the power distribution system locks or limits the differential to prevent the vehicle from being unable to move forward due to the loss of traction of a track 11. This function is particularly suitable for slippery or muddy roads. By limiting the differential, the vehicle maintains a stable power output and prevents a single track 11 from slipping and affecting the driving performance of the vehicle.

[0090] Real-time response and adjustment: The power distribution system needs to be able to respond to changing working conditions and environments in real time, so the ECU will continuously monitor sensor data and make dynamic adjustments as needed to ensure that the vehicle always maintains optimal handling and stability. The power distribution system is based on closed-loop feedback control. The ECU continuously monitors the real-time data of various sensors and automatically adjusts the distribution of driving force and braking force according to changes in terrain, load, vehicle speed and other working conditions. The system learns historical data and operating experience through adaptive algorithms, and gradually optimizes the power distribution strategy to cope with more complex and changing environments.

[0091] Through the above method, the power distribution system can effectively adjust the power distribution of the vehicle to adapt to different working conditions and driving environments, provide good handling and stability, and the system can dynamically adapt to various terrains and load conditions, effectively improve the vehicle's operating performance and operating efficiency, and ensure the safe and stable operation of the vehicle in extreme environments.

[0092] In general, the power distribution system plays a vital role in the crawler 11 chassis. It improves the performance and reliability of the vehicle under various working conditions by intelligently managing and adjusting the distribution of driving force.

[0093] The power transmission route is powered by the battery to the drive motor, and then transmitted to the drive wheels through the clutch, transmission, drive shaft, final reducer, differential and half shaft. The dynamic driving force distribution system and ECU solve the problems of power distribution and braking stability, ensuring the stable driving and braking effect of the vehicle under different conditions and avoiding damage to the inner surface of the pressure vessel.

[0094] Track 11 ensures intelligent adjustment according to real-time road conditions to maintain a stable driving state. Track 11 uses a special rubber track 11, which has excellent grip and wear resistance. The tire is made of chlorosulfonated polyethylene rubber material, which has excellent acid and alkali resistance, effectively reducing the risk of slipping during pickling operations. Advanced dynamic balance control technology monitors the vehicle posture and movement status in real time, adjusts the center of gravity of the vehicle body and the ground pressure of track 11, and minimizes slipping caused by vehicle instability.

[0095] The crawlers 11 on both sides are driven by independent motors and reducers respectively. During the driving process of the pickling automatic trolley, the crawlers on both sides move in coordination, which has greater traction and stability for various contact surfaces, and also improves its load-bearing motion performance. The position of the crawler pickling trolley 1 is determined by a laser sensor, and the position is fine-tuned by controlling the trolley through a chip to move to a normal working position. The motor and all electronic control equipment are powered by rechargeable lithium batteries to ensure the continuity requirements of the pickling operation in the pressure vessel. At the same time, the acquired data is transmitted back to the workstation through a wireless communication system. The workstation is equipped with monitoring and database software that can monitor the equipment operation status in real time and save the returned data for subsequent processing.

[0096] Therefore, the fully automatic pressure vessel pickling crawler pickling vehicle 1 provided in this embodiment effectively prevents the occurrence of slipping by comprehensively applying a number of advanced technologies and methods, ensures the stability and reliability of the pickling operation, and provides reliable protection for industrial operations.

[0097] Example 2

[0098] Example 2 provides a fully automatic pressure vessel pickling crawler 11 pickling method, such as Figure 5 As shown, the following steps are included:

[0099] Step S1: a pickling liquid supply device is arranged outside the horizontal pressure vessel 7, and the crawler pickling vehicle 1 is started;

[0100] Step S2: placing the crawler pickling vehicle 1 at the lowest point of the pressure vessel corresponding to the part of the pressure vessel that needs to be cleaned;

[0101] Step S3: the pickling liquid supply device 6 provides pickling liquid to the annular shower nozzle 5 through the pickling pipe;

[0102] Step S4: Control the first mechanical arm 2 to extend and retract to a preset position so that the geometric center of the second mechanical arm 3 located at the end of the first mechanical arm 2 is on the central axis of the horizontal pressure vessel 7;

[0103] Step S5: controlling the second mechanical arm 3 to rotate so that the spray telescopic tube 4 and the annular shower nozzle 5 can rotate with the second mechanical arm 3;

[0104] Step S6: Use a traction sensor to monitor the traction of each track 11 and adjust the traction of each track 11 through a traction regulator, so that the tracked pickling vehicle 1 travels along the axial direction of the horizontal pressure vessel 7 to pickle the inner wall of the horizontal pressure vessel 7.

[0105] In this embodiment, the method of using the traction sensor to monitor the traction of each crawler 11 through the traction control system and adjusting the traction of each crawler 11 through the traction regulator is as follows:

[0106] Step S601: using a weight sensor to obtain the load of the crawler pickling vehicle 1, and setting the initial traction forces of the two crawlers 11 to be the first traction force based on the load;

[0107] Step S602: obtaining the current slope based on the slope sensor, and judging the driving state of the crawler pickling vehicle 1 according to the current slope, and the driving state is uphill, downhill or flat road;

[0108] Step S603: adjusting the initial traction of the two tracks 11 based on the driving state.

[0109] When the driving state is uphill, the first traction force is increased to a second traction force;

[0110] A resistance sensor is used to obtain the friction between the track 11 and the bottom of the pressure vessel. When the driving state is uphill and the friction is greater than the first friction threshold, the second traction force continues to increase to the fourth traction force. When the driving state is uphill and the friction is less than or equal to the first friction threshold, the second traction force is maintained.

[0111] When the driving state is downhill, the first traction force is reduced to a third traction force;

[0112] When the driving state is downhill and the friction force is less than or equal to the second friction force threshold, the third traction force continues to be reduced to the fifth traction force; when the driving state is downhill and the friction force is greater than or equal to the second friction force threshold, the third traction force is maintained.

[0113] When the driving state is downhill, it is determined whether the crawler pickling vehicle 1 is driving in a straight line, turning or tilting;

[0114] When the crawler pickling vehicle 1 is traveling in a straight line, the first traction force is maintained;

[0115] When the crawler pickling vehicle 1 turns, the first traction force of the inner crawler 11 is adjusted to be reduced to the sixth traction force, and the first traction force of the inner crawler 11 is adjusted to be increased to the seventh traction force;

[0116] When the crawler pickling vehicle 1 is tilted, the first traction force of the crawler track 11 at the low side is adjusted to increase to the eighth traction force, and the first traction force of the crawler track 11 at the high side is adjusted to decrease to the ninth traction force.

[0117] In this embodiment, a laser sensor is arranged at the front end of the crawler pickling vehicle 1, and the crawler pickling vehicle 1 has a built-in IMU sensor (inertial measurement unit). The depth of the pressure vessel is measured by the laser sensor, and the dynamic information such as the position, speed and posture of the crawler pickling vehicle 1 is monitored and recorded in real time by the IMU sensor, so as to guide the crawler pickling vehicle 1 to travel in the axial direction to avoid deviation, and appropriately adjust the travel speed of the vehicle according to the feedback data, thereby effectively ensuring the continuity and uniformity of the pickling operation.

[0118] The depth of the pressure vessel can be accurately measured by the laser sensor device, and the crawler pickling vehicle 1 can be guided to travel in the axial direction. The collected data is transmitted to the controller, which calculates and analyzes the data through a burned-in control algorithm and issues corresponding control instructions.

[0119] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A fully automatic pressure vessel pickling crawler pickling vehicle, characterized in that: include: A crawler pickling vehicle comprises two crawlers arranged at a certain distance from each other; A first mechanical arm is vertically arranged on the top of the crawler pickling vehicle, and the first mechanical arm is driven to extend and retract by a first driving member; A second mechanical arm is horizontally arranged at the end of the second mechanical arm, and the second mechanical arm is driven to rotate by a second driving member; A spray telescopic pipe, arranged at the end of the second mechanical arm and inclined at a certain angle relative to the second mechanical arm; A pickling pipe is sequentially inserted into the first mechanical arm, the second mechanical arm, the spray telescopic pipe and connected to the annular shower nozzle, and the pickling pipe is provided with pickling liquid through a pickling liquid supply device; The controller includes a telescopic control module, a rotation control module and a traction control system. The telescopic control module is used to control the first driving member to drive the first mechanical arm to telescope, and the rotation control module controls the second driving member to drive the second mechanical arm to rotate. The traction control system is used to use a traction sensor to monitor the traction of each track and adjust the traction of each track through a traction regulator.

2. The fully automatic pressure vessel pickling crawler pickling vehicle according to claim 1 is characterized in that: The pickling liquid supply device comprises a pressure acid liquid tank, a pickling pipe, a flow control valve, a liquid level sensor and a pressure gauge. The pressure acid liquid tank is provided with pickling liquid. The pickling pipe comprises a first output pipe and a second output pipe. One end of the first output pipe is connected to the pressure acid liquid tank for outputting the pickling liquid. The first output pipe is provided with a flow control valve for controlling the flow rate of the pickling liquid. The other end of the first output pipe is connected to the second output pipe. The second output pipe is sequentially penetrated into the first mechanical arm, the second mechanical arm, the spray telescopic pipe and the annular shower nozzle. The liquid level sensor and the pressure gauge are used to monitor the liquid level and pressure changes in the pressure acid liquid tank. The flow rate of the pickling liquid is controlled by adjusting the pressure of the pressure acid liquid tank. A plurality of pulleys are provided in the internal cavities of the first mechanical arm and the second mechanical arm. The second output pipe is tangent to the pulleys and ensures that there is a certain amount of lubrication between the contact surfaces.

3. The fully automatic pressure vessel pickling crawler pickling vehicle according to claim 1 is characterized in that: It also includes a pickling pipe coiling device, which includes a first support base, a rotating shaft, a third driving member and a support top plate, one end of the rotating shaft is rotatably connected to the first support base and driven to rotate by the third driving member, and the other end of the rotating shaft is rotatably connected to the support top plate, the support top plate is arranged above the first support base and fixedly connected to the first support base by a connecting rod, and the first output pipe is wound around the rotating shaft.

4. The fully automatic pressure vessel pickling crawler pickling vehicle according to claim 1 is characterized in that: The first robotic arm includes a third support base and a support arm, the third support base has a cavity for accommodating the support arm, the support arm and the third support base are slidably connected, the third support base is provided with a cross-shaped sliding groove, the support arm is provided with a cross-shaped sliding block matching the cross-shaped sliding groove, and the support arm is driven by a first driving member to extend and retract relative to the third support base to enable the first robotic arm to extend and retract.

5. The fully automatic pressure vessel pickling crawler pickling vehicle according to claim 1 is characterized in that: The crawler pickling vehicle also includes a power distribution system and an electronic control unit. The power distribution system includes a drive wheel and a drive motor for driving the drive wheel to rotate. The drive wheel is used to drive the crawler track to rotate. The drive motor is electrically connected to the electronic control unit. The electronic control unit uses an adaptive algorithm to adjust the speed of the drive motor according to different working conditions.

6. A fully automatic pressure vessel pickling crawler pickling method, characterized in that: The following steps are involved: The pickling liquid supply device is arranged outside the horizontal pressure vessel, and the crawler-type pickling vehicle is started; Place the crawler pickling vehicle at the lowest point of the pressure vessel corresponding to the part of the pressure vessel that needs to be cleaned; The pickling liquid supply device supplies pickling liquid to the annular shower nozzle through the pickling pipe; Controlling the first mechanical arm to extend and retract to a preset position so that the geometric center of the second mechanical arm located at the end of the first mechanical arm is on the central axis of the horizontal pressure vessel; Control the second mechanical arm to rotate so that the spray telescopic pipe and the annular shower nozzle can rotate with the second mechanical arm; A traction sensor is used to monitor the traction of each track and a traction regulator is used to adjust the traction of each track so that the track-type pickling vehicle travels along the axial direction of the horizontal pressure vessel to pickle the inner wall of the horizontal pressure vessel.

7. The fully automatic pressure vessel pickling crawler pickling method according to claim 6, characterized in that: The method of using the traction sensor to monitor the traction of each track through the traction control system and adjusting the traction of each track through the traction regulator is as follows: A weight sensor is used to obtain the load of the crawler pickling vehicle, and the initial traction forces of the two crawlers are set to be the first traction forces based on the load; The current slope is obtained based on the slope sensor, and the driving state of the crawler pickling vehicle is determined according to the current slope, and the driving state is uphill, downhill or flat road; The initial traction of the two tracks is adjusted based on the driving conditions.

8. The fully automatic pressure vessel pickling crawler pickling method according to claim 7, characterized in that: When the driving state is uphill, the first traction force is increased to a second traction force; A resistance sensor is used to obtain the friction between the track and the bottom of the pressure vessel. When the driving state is uphill and the friction is greater than the first friction threshold, the second traction force continues to increase to the fourth traction force. When the driving state is uphill and the friction is less than or equal to the first friction threshold, the second traction force is maintained.

9. The fully automatic pressure vessel pickling crawler pickling method according to claim 7, characterized in that: When the driving state is downhill, the first traction force is reduced to a third traction force; When the driving state is downhill and the friction force is less than or equal to the second friction force threshold, the third traction force continues to be reduced to the fifth traction force; when the driving state is downhill and the friction force is greater than or equal to the second friction force threshold, the third traction force is maintained.

10. The fully automatic crawler pickling method for pickling a pressure vessel according to claim 7, characterized in that: When the driving state is downhill, it is judged whether the crawler pickling vehicle is driving straight, turning or tilting; When the crawler pickling vehicle is traveling in a straight line, the first traction force is maintained; When the crawler pickling vehicle turns, the first traction force of the inner crawler track is adjusted to be reduced to the sixth traction force, and the first traction force of the inner crawler track is adjusted to be increased to the seventh traction force; When the crawler-type pickling vehicle is tilted, the first traction force for adjusting the crawler track on the low side is increased to the eighth traction force, and the first traction force for adjusting the crawler track on the high side is reduced to the ninth traction force.

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