Defect detection pretreatment equipment of oil storage tank crawling robot based on machine vision

Abstract

The invention provides defect detection pretreatment equipment of an oil storage tank crawling robot based on machine vision, and relates to the technical field of detection equipment.The defect detection pretreatment equipment comprises a robot body, a control box is fixed to the top of the front end of the robot body, and an acquisition lens is installed at the bottom of the front end of the robot body; the robot comprises a robot body, a moving assembly is arranged at the front end of the robot body and comprises a moving mounting seat, two sets of moving wheels are symmetrically mounted at the bottom of the moving mounting seat, and a steering assembly is arranged at the rear end of the robot body and comprises a steering mounting seat. The robot climbs to a defect part along the outer wall of the oil storage tank, a plurality of second electric push rods are adsorbed to the outer surface of the oil storage tank according to the size of the defect under the cooperation of a driving assembly and a positioning assembly, the periphery of the defect is maintained, and an air blower walks along the maintenance path to efficiently heat and blow the defect. And subsequent defect repairing is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of detection equipment, and in particular to defect detection preprocessing equipment of an oil storage tank crawling robot based on machine vision. Background Art

[0002] Oil, natural gas and other energy sources are stored in oil tanks. The installation and maintenance of oil tanks require welding, rust removal, painting, testing and other operations. All of the above operations rely on manual high-altitude operations, which are dangerous, inefficient and difficult to solve the problems of low completion quality. Current technology has designed a crawling robot specifically for the repair and maintenance of oil tanks. Through vacuum adsorption technology, it can walk along the inner or outer wall of the oil tank.

[0003] In the daily maintenance of oil storage tanks, the defective parts can be repaired by crawling robots. Before repair, pretreatment is required, including cleaning, rust removal and drying techniques. After cleaning and rust removal, it must be blown and dried in time to avoid affecting subsequent filling and repair.

[0004] With existing technologies, it is difficult to directly dry the defective parts by installing heating and blowing equipment on the crawling robot because the size of the defect is uncertain. Natural air drying will affect the repair efficiency of the oil tank. Summary of the invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a defect detection pretreatment device of an oil tank crawling robot based on machine vision to solve the problems raised in the above-mentioned background technology. The present invention has a novel structure. The robot crawls along the outer wall of the oil tank to the defective part. Through the cooperation of the driving component and the positioning component, multiple second electric push rods are adsorbed on the outer surface of the oil tank according to the size of the defect, and the periphery of the defect is maintained. The hair dryer moves along the maintenance path to efficiently heat and blow air on the defect, which is convenient for subsequent repair of the defect.

[0006] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: a defect detection pretreatment device of an oil tank crawling robot based on machine vision, comprising a robot body, a control box is fixed to the top of the front end of the robot body, and a collection lens is installed at the bottom of the front end of the robot body, a moving component is provided at the front end of the robot body, the moving component comprises a moving mounting seat, and two groups of moving wheels are symmetrically installed at the bottom of the moving mounting seat, a steering component is provided at the rear end of the robot body, the steering component comprises a steering mounting seat, and two steering wheels are symmetrically installed at the bottom of the steering mounting seat, and anti-slip grooves are provided on the surfaces of the moving wheels and the steering wheels, and the robot A driving assembly is provided at the top of the rear end of the fuselage, and the driving assembly includes a winding seat. Two groups of winding seats are fixed to the top of the rear end of the robot body, and the winding shafts of the two groups of winding seats are fixed with shafts. A third motor is fixed to the outside of the winding seat on one side of the robot body, and the output end of the third motor is fixedly connected to the winding shaft. A positioning assembly is provided at the tail end of the robot body, and the positioning assembly includes multiple second electric push rods, which are stored in the tail end of the robot body, and the extended end of the second electric push rod is fixedly installed with a first electric suction cup, a pull rope is wound on the winding shaft of the winding seat, and the second electric push rod is slidably installed on the pull rope, and a hair dryer is fixed on the surface of the pull rope.

[0007] Furthermore, the moving component also includes a first electric push rod, which is fixed on both sides of the top front end of the robot body, and the extended end of the first electric push rod is fixedly connected to the moving mounting seat. The steering component also includes a first motor, which is fixed to the middle bottom of the steering mounting seat, and a second motor is fixed to the bottom of the robot body, and the output ends of the first motor and the second motor are connected to the same drive shaft.

[0008] Furthermore, a rotation groove is opened at the bottom of the steering assembly of the robot body, and fourth electric push rods are fixed on both sides of the steering wheel and the moving wheel, and a second electric suction cup is fixed to the extended end of the fourth electric push rod.

[0009] Furthermore, the driving assembly also includes a sliding frame, which is fixed on the top of the rear end of the robot body, and a screw is rotatably installed inside the sliding frame through a bearing, a moving block is threadedly sleeved on the surface of the screw, and two gears are rotatably installed on the top of the moving block of the screw, the two gears are meshed and connected, and a motor is installed inside the moving block of the screw to drive the gear on one side to rotate.

[0010] Furthermore, a third electric push rod is fixed on the top of the gear, a push frame is fixed on the extended end of the third electric push rod, and the push frame is sleeved on the surface of the second electric push rod along the sliding frame.

[0011] Furthermore, the positioning component also includes an arc-shaped card frame, the arc-shaped card frame is fixed to the tail end of the robot body, a magnet block is fixed at the position of the second electric push rod corresponding to the arc-shaped card frame, and the magnet block is magnetically adsorbed inside the arc-shaped card frame.

[0012] Furthermore, limiting blocks are fixed on both sides of the arc-shaped clamping frame, and the pull rope slides through the limiting blocks, and the two groups of winding seats wind up the same pull rope.

[0013] Furthermore, the pull rope is hollow inside, and a connection port is provided on the side of the pull rope facing the second electric push rod. A connection column is fixed on the surface of the second electric push rod, and the connection column slides through the connection port to connect with the inside of the pull rope.

[0014] Furthermore, a sliding ball is installed inside the first electric suction cup, a blocking cloth is fixed at the storage end port of the second electric push rod, and the lower end of the blocking cloth is fixedly connected to the extended end of the second electric push rod, and the blocking cloth connects all the second electric push rods.

[0015] Furthermore, an air outlet is provided at the bottom of the hair dryer, and an air inlet is opened at the top of the hair dryer. A connecting frame is fixed on one side of the hair dryer, and the connecting frame bypasses the connecting port and is fixedly sleeved on the outer surface of the pull rope.

[0016] Beneficial effects of the present invention: The present invention utilizes the hollow interior of the pull rope, and the second electric push rod passes through the connecting port through the connecting column and is slidably connected to the hollow interior of the pull rope, so that the second electric push rod can be arranged at any position and maintain a connection with the pull rope, thereby building a moving route for the hair dryer. The hair dryer is fixedly sleeved on the surface of the pull rope through the connecting frame, and will not interfere with the sliding of the connecting column along the connecting port and the hollow interior of the pull rope. At the same time, the hair dryer can move with the second electric push rod and the pull rope, and move along the path formed by the second electric push rod and the pull rope to heat and blow air in the enclosed area.

[0017] The present invention allows the sliding ball inside the first electric suction cup to slide along the outer wall of the oil storage tank. During the process of retracting the positioning component, the first electric suction cup is released from the adsorption of the outer wall of the oil storage tank, and the sliding ball is in sliding contact with the outer wall of the oil storage tank. During the process of retracting the second electric push rod by pulling the rope, the sliding ball slides along the surface of the oil storage tank, so that the magnet block can be retracted into the arc-shaped clamping frame.

[0018] The baffle cloth connected by the second electric push rod of the present invention is folded at first to avoid interference with the rotation of the steering assembly. When the second electric push rod drives the first electric suction cup to descend, the baffle cloth will be gradually opened and surrounded by the defective part of the oil storage tank, so that when heating and blowing are performed, the loss of ambient temperature can be slowed down and the processing efficiency is improved.

[0019] The present invention gradually pushes the second electric push rod out from the middle position to both sides, and in the process of pushing out, the meshing rotation of the two gears drives the third electric push rod to rotate, and then the third electric push rod alone pushes the second electric push rod in the push frame to move, so as to achieve the effect of adjusting the positioning position of the second electric push rod. In this way, all the second electric push rods are pushed out and the sending angle is adjusted, so that the shape of the defect can be enclosed.

[0020] During the process of pushing out the second electric push rod of the present invention, the third motor drives the two winding seats to synchronously unwind the pull rope, so as to facilitate the deployment of the second electric push rod to enclose the defective part. During the subsequent retraction process, the second electric push rod can be stored on the back of the robot body by winding the pull rope by the winding seat, so as to facilitate the overall movement of the device.

[0021] Compared with the prior art, the present invention utilizes a robot to crawl along the outer wall of the oil storage tank to the defective part, and through the cooperation of the driving component and the positioning component, multiple second electric push rods are adsorbed on the outer surface of the oil storage tank according to the size of the defect, and the periphery of the defect is maintained. The hair dryer moves along the maintenance path to efficiently heat and blow air on the defect, so as to facilitate the subsequent repair of the defect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the defect detection preprocessing equipment of the oil tank crawling robot based on machine vision of the present invention; Figure 2 It is a schematic structural diagram of a steering component of a defect detection preprocessing device of an oil tank crawling robot based on machine vision of the present invention; Figure 3 It is a schematic diagram of the structure of the mobile components of the defect detection pretreatment equipment of the oil tank crawling robot based on machine vision of the present invention; Figure 4 This is a schematic diagram of the structure of a driving component of a defect detection preprocessing device of an oil tank crawling robot based on machine vision according to the present invention; Figure 5 It is a schematic structural diagram of a positioning component of a defect detection preprocessing device of an oil tank crawling robot based on machine vision according to the present invention; Figure 6 It is a schematic diagram of the structure of the baffle deployment of the defect detection pretreatment equipment of the oil tank crawling robot based on machine vision of the present invention; Figure 7 A schematic diagram of the connection between the blower and the pull rope of the defect detection pretreatment equipment of the oil tank crawling robot based on machine vision of the present invention; Figure 8 This is a schematic diagram of the connection between the second electric push rod and the pull rope of the defect detection pretreatment equipment of the oil tank crawling robot based on machine vision of the present invention.

[0023] In the figure: 1. robot body; 11. control box; 12. acquisition lens; 13. rotating groove; 2. moving assembly; 21. first electric push rod; 22. moving mounting seat; 23. moving wheel; 3. steering assembly; 31. steering mounting seat; 32. first motor; 33. steering wheel; 34. second motor; 4. positioning assembly; 41. arc card frame; 42. magnet block; 43. second electric push rod; 44. limit block; 45. cloth stop; 46. first electric suction cup; 47. sliding ball; 48. connecting column; 5. driving assembly; 51. winding seat; 52. third motor; 53. pull rope; 54. shaft rod; 55. sliding frame; 56. gear; 57. screw; 58. third electric push rod; 59. push frame; 510. connecting port; 6. fourth electric push rod; 61. second electric suction cup; 7. hair dryer; 71. air outlet; 72. connecting frame. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0025] See also Figures 1 to 8The present invention provides a technical solution: a defect detection pretreatment device for an oil tank crawling robot based on machine vision, comprising a robot body 1, a control box 11 is fixed to the top of the front end of the robot body 1, and a collection lens 12 is installed at the bottom of the front end of the robot body 1, a moving component 2 is provided at the front end of the robot body 1, the moving component 2 comprises a moving mounting seat 22, two groups of moving wheels 23 are symmetrically installed at the bottom of the moving mounting seat 22, a steering component 3 is provided at the rear end of the robot body 1, the steering component 3 comprises a steering mounting seat 31, two steering wheels 33 are symmetrically installed at the bottom of the steering mounting seat 31, and anti-slip grooves are provided on the surfaces of the moving wheels 23 and the steering wheels 33, a driving component 5 is provided at the top of the rear end of the robot body 1, the driving component 5 comprises a winding seat 51, two groups of winding seats 51 are fixed to the top of the rear end of the robot body 1, and the winding shafts of the two groups of winding seats 51 are fixed with shafts 54, the robot A third motor 52 is fixed to the outside of a winding seat 51 on one side of the body 1, and the output end of the third motor 52 is fixedly connected to the winding shaft. A positioning component 4 is provided at the tail end of the robot body 1, and the positioning component 4 includes a plurality of second electric push rods 43, which are stored at the tail end of the robot body 1, and a first electric suction cup 46 is fixedly installed at the extended end of the second electric push rod 43. A pull rope 53 is wound on the winding shaft of the winding seat 51, and the second electric push rod 43 is slidably installed on the pull rope 53, and a hair dryer 7 is fixed on the surface of the pull rope 53. When the device is used, the device moves along the outer wall of the oil storage tank through the moving component 2 and the steering component 3. When reaching the starting point of the defective position of the oil storage tank, the driving component 5 and the positioning component 4 cooperate to wrap the periphery of the defect, and the device continues to move until it reaches the tail end of the defective part, and the positioning component 4 wraps the entire defective part, and the hair dryer 7 is used to heat and blow the defective part after cleaning and rust removal, so as to facilitate subsequent repair.

[0026] In this embodiment, the mobile component 2 also includes a first electric push rod 21, the first electric push rods 21 are fixed on both sides of the front top of the robot body 1, and the extended end of the first electric push rod 21 is fixedly connected to the mobile mounting seat 22, the steering component 3 also includes a first motor 32, the first motor 32 is fixed to the middle bottom of the steering mounting seat 31, the second motor 34 is fixed to the bottom of the robot body 1, and the output ends of the first motor 32 and the second motor 34 are connected to the same drive shaft, the robot body 1 is located at the bottom of the steering component 3 and is provided with a rotating groove 13, the steering wheel 33 and the mobile wheel 23 are both fixed with fourth electric push rods 6, and the extended end of the fourth electric push rod 6 is fixed with a second electric suction cup 61, the mobile wheel 2 3 and the steering wheel 33 can only keep one wheel moving, and the other wheel needs to be adsorbed on the oil tank through the cooperation of the fourth electric push rod 6 and the second electric suction cup 61. When turning, the steering wheel 33 is fixed in position. The first motor 32 drives the robot body 1 to rotate, and the moving wheel 23 and the robot body 1 are rotated, and then the moving wheel 23 is locked. The second motor 34 adjusts the steering assembly 3 to the same direction as the robot body 1. When the device moves, the steering wheel 33 remains stationary, the first electric push rod 21 pushes the moving wheel 23 to slide downward, and then the position of the moving wheel 23 is locked. The first electric push rod 21 then retracts the robot body 1 and the steering wheel 33 to the vicinity of the moving wheel 23, so that the device can climb and walk, and maintain stability during the process.

[0027] In this embodiment, the driving component 5 also includes a sliding frame 55, the sliding frame 55 is fixed on the top of the tail end of the robot body 1, and a screw 57 is rotatably installed inside the sliding frame 55 through a bearing, a moving block is threadedly sleeved on the surface of the screw 57, two gears 56 are rotatably installed on the top of the moving block of the screw 57, the two gears 56 are meshed and connected, and a motor for driving one side gear 56 to rotate is installed inside the moving block of the screw 57, a third electric push rod 58 is fixed on the top of the gear 56, and a push frame 59 is fixed on the extended end of the third electric push rod 58, and the push frame 59 is sleeved on the second electric push rod along the sliding frame 55. On the surface of the rod 43, the positioning component 4 also includes an arc-shaped card frame 41, the tail end of the robot body 1 is fixed with an arc-shaped card frame 41, the second electric push rod 43 is fixed with a magnet block 42 at the position corresponding to the arc-shaped card frame 41, and the magnet block 42 is magnetically adsorbed inside the arc-shaped card frame 41, and the two sides of the arc-shaped card frame 41 are fixed with limit blocks 44, and the pull rope 53 slides through the limit blocks 44. The two groups of the winding seats 51 are wound with the same pull rope 53. Before sending out the positioning component 4, it is first recognized by the collection lens 12 of the device. The collection lens 12 contains a CMOS sensor and a CCD sensor to image The data are collected, scanned and identified, and transmitted to the control box 11 for internal identification. After confirming the defect position, the control box moves to the starting position of the defect through the electrical signal control device, and then the motor drives the screw 57 to rotate, and the moving block and the screw 57 thread cooperate to slide along the slide frame 55. Because the number of second electric push rods 43 inside the arc-shaped card frame 41 is even, two groups of second electric push rods 43 can be pushed out each time. In this process, the second electric push rods 43 are gradually pushed out from the middle position to both sides, and in the process of pushing out, the meshing rotation of the two gears 56 drives the third electric push rod 58 to rotate an angle, and then the third electric push rod 58 is driven to rotate an angle by the meshing rotation of the two gears 56. The dynamic push rod 58 independently pushes the second electric push rod 43 in the push frame 59 to move, so as to achieve the effect of adjusting the positioning position of the second electric push rod 43, so as to push out all the second electric push rods 43 and adjust the sending angle, so as to enclose the defect according to the shape of the defect. During the pushing out of the second electric push rod 43, the third motor 52 drives the two winding seats 51 to synchronously unwind the pull rope 53, so as to facilitate the unfolding of the second electric push rod 43 to enclose the defective part. In the subsequent retraction process, the second electric push rod 43 can be stored on the back of the robot body 1 by winding the pull rope 53 by the winding seat 51, so as to facilitate the overall movement of the device.

[0028] In this embodiment, the pull rope 53 is hollow inside, and a connection port 510 is opened on the side of the pull rope 53 facing the second electric push rod 43. A connection column 48 is fixed on the surface of the second electric push rod 43, and the connection column 48 slides through the connection port 510 and is connected to the inside of the pull rope 53. A sliding ball 47 is installed inside the first electric suction cup 46. A blocking cloth 45 is fixed at the storage end of the second electric push rod 43, and the lower end of the blocking cloth 45 is fixedly connected to the extension end of the second electric push rod 43. The blocking cloth 45 connects all the second electric push rods 43. An air outlet 71 is provided at the bottom of the hair dryer 7, and an air inlet is provided at the top of the hair dryer 7. A connecting frame 72 is fixed to one side of the hair dryer 7, and the connecting frame 72 bypasses the connecting port 510 and is fixedly sleeved on the outer surface of the pull rope 53. The pull rope 53 is hollow inside. The second electric push rod 43 passes through the connecting port 510 through the connecting column 48 and is slidably connected to the inner hollow of the pull rope 53, so that the second electric push rod 43 can be arranged at any position and maintain a connection relationship with the pull rope 53, thereby building a moving route for the hair dryer 7, and the hair dryer 7 is fixedly sleeved on the surface of the pull rope 53 through the connecting frame 72. The hair dryer 7 can move along the path formed by the second electric push rod 43 and the pull rope 53 to heat and blow air in the enclosure area. The hair dryer 7 has a heating wire inside the fuselage to blow hot air to achieve the technical effect of drying. The sliding ball 47 inside the first electric suction cup 46 can slide along the outer wall of the oil storage tank. In the process of retracting the positioning component 4, the first electric suction cup 46 is released from the adsorption of the outer wall of the oil storage tank, and the sliding ball 47 is used to prevent the oil storage tank from being damaged. 7 is in sliding contact with the outer wall of the oil storage tank. When the pull rope 53 retracts the second electric push rod 43, the sliding ball 47 slides along the surface of the oil storage tank, so that the magnet block 42 can be retracted into the arc-shaped clamping frame 41. The blocking cloth 45 connected to the second electric push rod 43 is folded at first to avoid interference with the rotation of the steering assembly 3. When the second electric push rod 43 drives the first electric suction cup 46 to descend, the blocking cloth 45 will be gradually opened and surrounded by the defective part of the oil storage tank, so as to slow down the loss of ambient temperature during heating and blowing, and improve the processing efficiency.

[0029] When the device is used, the device moves along the outer wall of the oil storage tank through the moving component 2 and the steering component 3, and is identified by the device's acquisition lens 12 to move the device to the starting point of the defect, and then the motor drives the screw 57 to rotate, and the moving block and the screw 57 threadedly cooperate to slide along the slide frame 55. Because the number of second electric push rods 43 inside the arc-shaped card frame 41 is even, two groups of second electric push rods 43 can be pushed out each time. In this process, the second electric push rods 43 are gradually pushed out from the middle position to both sides, and in the process of pushing out, the meshing rotation of the two gears 56 drives the third electric push rod 43 to move. The push rod 58 rotates an angle, and then the third push rod 58 pushes the second push rod 43 in the push frame 59 to move, so as to achieve the effect of adjusting the positioning position of the second push rod 43, so that all the second push rods 43 are pushed out and the delivery angle is adjusted, and the shape of the defect can be enclosed. In the process of pushing the second push rod 43, the third motor 52 drives the two winding seats 51 to unwind the pull rope 53 synchronously, so as to facilitate the deployment of the second push rod 43 to enclose the defective part. In the subsequent retraction process, the pull rope 53 can be rewound by the winding seat 51. The second electric push rod 43 is stored on the back of the robot body 1 to facilitate the overall movement of the device. The hair dryer 7 can move with the second electric push rod 43 and the pull rope 53, and move along the path formed by the second electric push rod 43 and the pull rope 53 to heat and blow air in the enclosure area. Here, the body of the hair dryer 7 is equipped with a heating wire to blow hot air to achieve the technical effect of drying. The sliding ball 47 inside the first electric suction cup 46 can slide along the outer wall of the oil storage tank. In the process of retracting the positioning component 4, the first electric suction cup 46 is released from the outer wall of the oil storage tank, and the sliding ball 47 is in contact with the outer wall of the oil storage tank. Sliding contact. During the process of the pull rope 53 retracting the second electric push rod 43, the sliding ball 47 slides along the surface of the oil tank, so that the magnet block 42 can be retracted into the arc-shaped frame 41. The blocking cloth 45 connected to the second electric push rod 43 is folded at first to avoid interference with the rotation of the steering assembly 3. During the process of the second electric push rod 43 driving the first electric suction cup 46 to descend, the blocking cloth 45 will be gradually opened and surrounded by the defective part of the oil tank, so that when heating and blowing, the loss of ambient temperature can be slowed down, the processing efficiency is improved, and the subsequent repair is convenient.

[0030] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0031] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A defect detection pretreatment device for an oil tank crawling robot based on machine vision, comprising a robot body (1), characterized in that: A control box (11) is fixed to the top of the front end of the robot body (1), and a collection lens (12) is installed at the bottom of the front end of the robot body (1). A moving component (2) is provided at the front end of the robot body (1), and the moving component (2) includes a moving mounting seat (22). Two sets of moving wheels (23) are symmetrically installed at the bottom of the moving mounting seat (22). A steering component (3) is provided at the rear end of the robot body (1). The steering component (3) includes a steering mounting seat (31). Two steering wheels (33) are symmetrically installed at the bottom of the steering mounting seat (31), and anti-slip grooves are provided on the surfaces of the moving wheels (23) and the steering wheels (33). A driving component (5) is provided at the top of the rear end of the robot body (1). The driving component (5) includes a winding seat (51). Two groups of winding seats (51) are fixed on the top of the rear end of the robot body (1), and the winding shafts of the two groups of winding seats (51) are fixed with shafts (54). A third motor (52) is fixed on the outside of the winding seat (51) on one side of the robot body (1), and the output end of the third motor (52) is fixedly connected to the winding shaft. A positioning component (4) is provided at the tail end of the robot body (1), and the positioning component (4) includes a plurality of second electric push rods (43), the second electric push rods (43) are stored at the tail end of the robot body (1), and the extended end of the second electric push rod (43) is fixedly installed with a first electric suction cup (46), a pull rope (53) is wound on the winding shaft of the winding seat (51), and the second electric push rod (43) is slidably installed on the pull rope (53), and a hair dryer (7) is fixed on the surface of the pull rope (53).

2. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 1 is characterized in that: The moving assembly (2) further comprises a first electric push rod (21), the first electric push rod (21) being fixed to both sides of the top of the front end of the robot body (1), and the extended end of the first electric push rod (21) being fixedly connected to the moving mounting seat (22), the steering assembly (3) further comprises a first motor (32), the first motor (32) being fixed to the middle bottom of the steering mounting seat (31), a second motor (34) being fixed to the bottom of the robot body (1), and the output ends of the first motor (32) and the second motor (34) being connected to the same drive shaft.

3. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 2 is characterized in that: The robot body (1) is provided with a rotation groove (13) at the bottom of the steering assembly (3), and fourth electric push rods (6) are fixed on both sides of the steering wheel (33) and the moving wheel (23), and a second electric suction cup (61) is fixed to the extended end of the fourth electric push rod (6).

4. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 1 is characterized in that: The driving assembly (5) further comprises a sliding frame (55), the sliding frame (55) being fixed to the top of the rear end of the robot body (1), and a screw rod (57) being rotatably mounted inside the sliding frame (55) via a bearing, a moving block being threadedly sleeved on the surface of the screw rod (57), two gears (56) being rotatably mounted on the top of the moving block of the screw rod (57), the two gears (56) being meshedly connected, and a motor for driving the gear (56) on one side to rotate is mounted inside the moving block of the screw rod (57).

5. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 4 is characterized in that: A third electric push rod (58) is fixed to the top of the gear (56), a push frame (59) is fixed to the extended end of the third electric push rod (58), and the push frame (59) is movably sleeved on the surface of the second electric push rod (43) along the sliding frame (55).

6. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 1 is characterized by: The positioning assembly (4) further comprises an arc-shaped card frame (41), the arc-shaped card frame (41) being fixed to the rear end of the robot body (1), a magnet block (42) being fixed to a position of the second electric push rod (43) corresponding to the arc-shaped card frame (41), and the magnet block (42) being magnetically adsorbed inside the arc-shaped card frame (41).

7. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 6 is characterized by: Limiting blocks (44) are fixed on both sides of the arc-shaped clamping frame (41), the pull rope (53) slides through the limiting blocks (44), and the two groups of winding seats (51) wind up the same pull rope (53).

8. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 7 is characterized by: The pull rope (53) is hollow inside, and a connection opening (510) is provided on a side of the pull rope (53) facing the second electric push rod (43). A connection column (48) is fixed on the surface of the second electric push rod (43), and the connection column (48) slides through the connection opening (510) to connect with the inside of the pull rope (53).

9. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 8 is characterized by: A sliding ball (47) is installed inside the first electric suction cup (46), a blocking cloth (45) is fixed at the storage end of the second electric push rod (43), and the lower end of the blocking cloth (45) is fixedly connected to the extended end of the second electric push rod (43), and the blocking cloth (45) connects all the second electric push rods (43).

10. The defect detection preprocessing equipment of the oil tank crawling robot based on machine vision according to claim 9 is characterized in that: The bottom of the hair dryer (7) is provided with an air outlet (71), and the top of the hair dryer (7) is provided with an air inlet. A connecting frame (72) is fixed to one side of the hair dryer (7), and the connecting frame (72) bypasses the connecting port (510) and is fixedly sleeved on the outer surface of the pull rope (53).

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