A coating support device for the inner wall of a storage tank

Abstract

The present invention relates to the technical field of painting operations, and particularly to a painting support device for the inner wall of a storage tank, which includes an intermediate column, a lifting assembly, a swing arm, and a lifting assembly that provides a pulling force to balance the gravity of the swing arm and the manned hanging basket; a monitoring assembly monitors the force information of key stress-bearing parts, as well as monitors the telescopic lengths of the first telescopic swing arm and the second telescopic swing arm, and the height information of the lifting assembly from the bottom of the inner wall of the storage tank; a support assembly is connected to the lower end of the intermediate column to support the intermediate column to maintain a vertical state in the storage tank; a control assembly determines the real-time center-of-gravity position and center-of-gravity offset characteristics of the overall device based on the force information and the telescopic length to adjust the structure of the support assembly, and is also used to determine the telescopic mode of the swing arm according to the real-time height, the cross-sectional shape of the storage tank, the length of the swing arm, and the target painting position; the present invention effectively improves the stability of the support assembly and reduces potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the technical field of painting operations, and in particular to a support device for painting the inner wall of a storage tank. Background Art

[0002] Spherical tanks are usually used to store various chemical substances, such as petroleum, natural gas, chemical raw materials, etc. These substances may generate corrosive gases or liquids. Through painting operations, a protective film can be formed on the surface of the spherical tank to isolate the contact between the corrosive medium and the metal material of the spherical tank, slow down the speed of chemical corrosion, and extend the service life of the spherical tank. In the prior art, a swing-arm type hanging basket is often used as a carrying tool for workers to carry out painting. The swing arm of the swing-arm type hanging basket can rotate and swing around the column, so that the manned hanging basket can reach different heights and circumferential positions on the inner wall of the spherical tank, increasing the coverage range of the painting operation and reducing the operation blind area.

[0003] Chinese Patent Application Publication No.: CN112324123A discloses a swing-arm type construction hanging basket for the inner wall of a spherical tank, which includes a swing arm and a column installed inside the spherical tank. The upper and lower ends of the column are respectively connected to the oil tank through an upper turntable and a lower slewing mechanism. A large arm connection frame is arranged at the center position of the column and is rotationally connected to the swing arm through the large arm connection frame. The swing arms are arranged on both sides of the large arm connection frame and are kept symmetrical. The length of each swing arm is consistent with the radius of the spherical tank. The end of the swing arm far from the large arm connection frame is rotationally connected to the manned hanging basket. A lifting structure is arranged between the upper turntable and the end of each swing arm close to the manned hanging basket, and any point on the inner wall of the spherical tank can be easily reached.

[0004] It can be seen that although the above technical solution solves the problem that it is difficult for operators to comprehensively overhaul the inner wall of the spherical oil tank caused by the mismatch between the ordinary hanging basket and the spherical tank structure, there are still the following problems: the support stability of the hollow pyramid-shaped structure is insufficient, and the lower slewing mechanism is connected to the bottom of the oil tank and only relies on the support structure for assistance. During operations such as swing arm rotation and manned hanging basket lifting and lowering, as the center of gravity of the hanging basket system changes, the lower slewing mechanism will loosen and shift due to the large torque it bears, affecting construction safety. Summary of the Invention

[0005] Therefore, the present invention provides a support device for painting the inner wall of a storage tank to overcome the problems of insufficient support, poor stability, and easy safety hazards in the support device for painting the inside of a spherical tank in the prior art.

[0006] To achieve the above object, the present invention provides a support device for painting the inner wall of a storage tank, including:

[0007] An intermediate column arranged inside the storage tank along the vertical center line of the storage tank;

[0008] A lifting assembly sleeved outside the intermediate column;

[0009] The swing arms arranged on both sides of the lifting assembly;

[0010] The support assembly arranged at the lower end of the middle column, and,

[0011] The monitoring assembly, which is used to monitor in real time the force information of the key force-bearing parts of the painting support device, the swing arm length of the swing arms, and the real-time height of the lifting assembly from the bottom of the inner wall of the storage tank;

[0012] The control assembly, which is used to determine the real-time center of gravity position of the whole device according to the force information and the swing arm length to determine the center of gravity deviation direction and the degree of center of gravity deviation, and determine the adjustment method for the support assembly according to the center of gravity deviation direction and the degree of center of gravity deviation, determine the telescopic direction of the swing arms according to the real-time height, the radius of the storage tank, and the target painting position, and determine the telescopic amount of the swing arms according to the target painting position, the cross-sectional shape of the storage tank, and the swing arm length.

[0013] Further, the swing arms include a first telescopic swing arm and a second telescopic swing arm respectively arranged on both sides of the lifting assembly, and a single telescopic swing arm includes:

[0014] The swing arm main body, which includes a plurality of swing arm platforms. The swing arm platforms are of a multi-section nested structure and are used to adjust their own telescopic lengths to make the manned hanging basket approach or move away from the inner wall of the storage tank;

[0015] The power part, which is arranged at one end of the swing arm main body close to the lifting assembly and is used to provide power for the telescopic movement of the swing arm main body;

[0016] The limit switch, which is arranged at the end of each section of the swing arm platform and is used to limit the telescopic length of the swing arm main body;

[0017] Wherein, magnetic materials are arranged at the nested parts of each section of the swing arm platform and are used to assist the telescopic movement of the swing arm platform through magnetic field action.

[0018] Further, the key force-bearing parts include the connection parts of the lifting assembly and the lifting component with the middle column, the connection parts of the first telescopic swing arm and the second telescopic swing arm with the lifting assembly, the connection parts of the manned hanging basket and the lifting component with the swing arms, and the bottom of the manned hanging basket.

[0019] Further, the support assembly includes:

[0020] The base, which is connected to the lower end of the middle column and is used to keep the device in a vertical state;

[0021] A plurality of telescopic support legs, which are evenly distributed around the base. Displacement sensors are arranged on each telescopic support leg and are used to monitor the telescopic lengths of the telescopic support legs;

[0022] A connecting member for connecting adjacent telescopic legs to enhance the connection strength between the telescopic legs;

[0023] A locking member provided on each telescopic leg for fixing each telescopic leg.

[0024] Further, a hydraulic shock absorber for keeping the telescopic legs extend and retract smoothly is provided between adjacent telescopic legs. Both ends of the hydraulic shock absorber are respectively connected to the upper sides of adjacent telescopic legs. A flexible shock-absorbing member is provided at the connection between the telescopic leg and the base for absorbing and buffering the vibration generated between the telescopic leg and the base.

[0025] Further, the control component constructs a device force model based on the force information and the swing arm length, determines the real-time center of gravity position of the whole device according to the device force model, and determines the center of gravity offset direction and the center of gravity offset degree according to the real-time center of gravity position and the preset center of gravity position.

[0026] Further, the control component determines the telescopic leg to be adjusted according to the center of gravity offset direction, determines the telescopic adjustment length of the telescopic leg to be adjusted according to the center of gravity offset degree, the support height of each telescopic leg, and the device force model, and adjusts the telescopic length of the telescopic leg to be adjusted according to the telescopic adjustment length.

[0027] Further, the control component monitors the actual force value of each telescopic leg or the telescopic speed of each telescopic leg to be adjusted, and determines the telescopic abnormal state according to the comparison result between the actual force value and the preset force range or the comparison result between the telescopic speed and the preset telescopic speed range.

[0028] Further, the control component determines the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank, and the target painting position. Among them,

[0029] If the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is less than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, the first telescopic swing arm and the second telescopic swing arm extend away from the middle column;

[0030] If the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is greater than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, the first telescopic swing arm and the second telescopic swing arm contract towards the middle column.

[0031] Further, the control component determines the lateral length of the corresponding swing arm according to the target painting position and the cross-sectional shape of the storage tank, and determines the telescopic amount of the first telescopic swing arm and the second telescopic swing arm according to the lateral length and the swing arm length.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows: the first telescopic swing arm and the second telescopic swing arm are symmetrically arranged to connect the manned hanging basket, enabling the manned hanging basket to move along the inner wall of the storage tank, facilitating full - range painting. The monitoring component real - time monitors the force information of key stress parts, the length of the swing arm, and the height of the lifting component, providing data support for the safe operation of the device. The control component determines the real - time center - of - gravity position and offset characteristics based on the force information and the length of the swing arm, and then adjusts the support component. It can also determine the telescopic direction and telescopic amount of the swing arm according to the real - time height, the radius of the storage tank, the target painting position, etc., realizing intelligent and precise control of the painting operation, improving the painting efficiency and quality, and ensuring the safety of the operation.

[0033] Further, the swing arm of the present invention is a multi - section nested telescopic structure, which is convenient for adjusting the lengths of the first telescopic swing arm and the second telescopic swing arm according to the target painting position, facilitating full - range painting. At the same time, the present invention uses magnetic materials to be arranged at the nested parts of each section of the swing arm platform. On the basis of the power provided by the power part, it serves as an auxiliary power source to enable the relative movement of the swing arm platform, further reducing mechanical contact and friction, making the telescopic process more stable and flexible. Further realizing intelligent and precise control of the painting operation, improving the painting efficiency and quality, and ensuring the safety of the operation.

[0034] Further, the control component of the present invention constructs a device force model based on the force information of the key stress parts of the painting support device and the telescopic length, determines the real - time center - of - gravity position of the whole device according to the device force model, and determines the center - of - gravity offset direction and center - of - gravity offset degree according to the real - time center - of - gravity position and the preset center - of - gravity position, so as to further ensure the stability and safety of the device during operation, realizing intelligent and precise control of the painting operation, improving the painting efficiency and quality, and ensuring the safety of the operation.

[0035] Further, the control component of the present invention determines the telescopic support legs to be telescoped according to the center - of - gravity offset direction, and determines the telescopic adjustment length of the telescopic support legs to be telescoped according to the center - of - gravity offset degree, the support height of each telescopic support leg, and the device force model, so as to change the distribution of the supporting force and correct the center - of - gravity offset of the device, further ensuring the stability and safety of the device during operation, realizing intelligent and precise control of the painting operation, and improving the painting efficiency and quality.

[0036] Further, the present invention determines the abnormal telescopic state according to the telescopic speed or the actual force value of each telescopic support leg to be telescoped, timely detects the fault problems of the painting support device during operation, ensures the normal operation and safety of the device, further realizes intelligent and precise control of the painting operation, and improves the painting efficiency and quality.

[0037] Furthermore, the present invention determines the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank, and the target painting position, and determines the telescopic amount of the swing arm according to the target painting position, the cross-sectional shape of the storage tank, and the length of the swing arm, realizing intelligent and precise control of the painting operation, facilitating all-round painting, and improving the painting efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic structural diagram of the support device for painting the inner wall of the storage tank according to an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of the swing arm according to an embodiment of the present invention;

[0040] Figure 3 is a step diagram for determining the deviation direction and deviation degree of the center of gravity of the device according to an embodiment of the present invention;

[0041] Figure 4 is a step diagram for telescopic adjustment of the telescopic support leg according to an embodiment of the present invention;

[0042] In the figure: 1, middle column; 2, lifting assembly; 31, first telescopic swing arm; 311, swing arm platform; 312, magnetic material; 32, second telescopic swing arm; 4, manned hanging basket; 5, lifting assembly; 6, support assembly. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0045] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0046] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Please refer to Figure 1 、 Figure 2 as shown in Figure 1 which is a schematic structural diagram of the coating support device for the inner wall of the storage tank in the embodiment of the present invention, Figure 2 and which is a schematic structural diagram of the swing arm in the embodiment of the present invention. Specifically, the present invention provides a coating support device for the inner wall of a storage tank, including:

[0048] An intermediate column 1, which is arranged inside the storage tank along the vertical center line of the storage tank and is the core support component;

[0049] A lifting component 2, which is sleeved outside the intermediate column 1 and fixedly connected to the swing arms on both sides, and is used to drive the swing arms to move up and down along the intermediate column 1;

[0050] Swing arms, which include a first telescopic swing arm 31 and a second telescopic swing arm 32 symmetrically arranged on the left and right sides of the lifting component 2. A manned hanging basket 4 is connected to one end of the first telescopic swing arm 31 and the second telescopic swing arm 32 away from the lifting component 2, and the manned hanging basket 4 moves along the inner wall of the storage tank;

[0051] A lifting component 5, which is arranged at the upper end of the intermediate column 1 and is respectively connected to the side of the swing arm close to the manned hanging basket 4, and is used to provide a pulling force to balance the gravity of the swing arm and the manned hanging basket 4;

[0052] A monitoring component, which includes a first monitoring unit for real-time monitoring of the force information of the key force-bearing parts of the coating support device, a second monitoring unit for monitoring the lengths of the first telescopic swing arm 31 and the second telescopic swing arm 32, and a third monitoring unit for monitoring the real-time height of the lifting component 2 from the bottom of the inner wall of the storage tank;

[0053] A support component 6, which is connected to the lower end of the intermediate column 1 and is used to maintain the vertical state of the intermediate column 1;

[0054] A control component, which is used to determine the real-time center of gravity position of the whole device according to the force information and the length of the swing arm to determine the center of gravity offset characteristics, and determine the adjustment method for the support component 6 according to the center of gravity offset characteristics. It is also used to determine the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank and the target painting position, and determine the telescopic amount of the swing arm according to the target painting position, the cross-sectional shape of the storage tank and the length of the swing arm;

[0055] Wherein, the center of gravity offset characteristics include the center of gravity offset direction and the center of gravity offset degree.

[0056] It can be understood that during the process of the swing arm telescoping and the lifting and lowering component 2 moving up and down to drive the manned hanging basket 4 to move, the center of gravity of the hanging basket system will change, and there may be a problem of unstable center of gravity of the painting support device. Therefore, by monitoring the force information of the key force-bearing parts of the relevant components in real time, such as tension, pressure, gravity and torque, the real-time center of gravity position of the whole device is determined to judge whether the center of gravity of the whole device is offset, so as to determine the support stability of the painting support device during the painting operation. At the same time, according to the target painting position, the moving path of the lifting and lowering component 2 and the telescopic path of the swing arm are determined to make the length of the swing arm better adapt to the cross-sectional shape of the storage tank.

[0057] In a specific embodiment, the storage tank is a spherical tank, the cross-sectional shape of the storage tank is circular, and the target painting position can be determined according to the specific painting requirements of the painting personnel.

[0058] In a specific embodiment, the upper and lower ends of the middle column 1 are respectively connected to the storage tank through a rotary bearing and a rotary disc; the middle column 1 is made of a strong metal material, such as steel, to ensure its sufficient strength and stability. An elevating assembly 2 is sleeved outside the middle column 1 to provide a moving track for the elevating assembly 2. The elevating assembly 2 includes a driving motor, a lead screw-nut pair, and a guiding device. The guiding device and the middle column 1 are in a relatively sliding connection, and one end is fixedly connected to the swing arm. The driving motor provides power, and the lead screw-nut pair converts the rotary motion of the motor into a linear motion. The guiding device ensures that the elevating assembly 2 moves smoothly up and down along the middle column 1, driving the swing arm to move up and down vertically along the middle column 1 inside the storage tank; the manned hanging basket 4 is composed of a metal frame, a guardrail, etc.; the lifting assembly 5 is composed of a winch, a steel wire rope, etc. The winch provides the power for winding and unwinding the steel wire rope. The steel wire rope is connected to the side of the swing arm close to the manned hanging basket 4. By adjusting the length and tension of the steel wire rope, the gravity of the swing arm and the manned hanging basket 4 is balanced; in the monitoring assembly, the first monitoring unit is arranged at the key stress-bearing parts of the middle column 1, the elevating assembly 2, the swing arm, and the manned hanging basket 4. The first monitoring unit includes a pressure sensor and a torque sensor. The second monitoring unit is a displacement sensor, and the third monitoring unit is a displacement sensor. The pressure sensor is installed at the key stress-bearing parts to monitor the stress information, and the displacement sensor is used to monitor the swing arm lengths of the first telescopic swing arm 31 and the second telescopic swing arm 32 and the real-time height of the elevating assembly 2 from the bottom of the inner wall of the storage tank. In practice, the material of the middle column 1, the composition of the elevating assembly 2, the lifting assembly 5, and the monitoring assembly can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0059] The present invention symmetrically arranges the first telescopic swing arm 31 and the second telescopic swing arm 32 to connect the manned hanging basket 4, enabling the manned hanging basket 4 to move along the inner wall of the storage tank, facilitating full-round painting. The monitoring assembly monitors the stress information of the key stress-bearing parts, the swing arm length, and the height of the elevating assembly 2 in real time, providing data support for the safe operation of the device. The control assembly determines the real-time center of gravity position and the offset characteristics based on the stress information and the swing arm length, and then adjusts the support assembly 6. It can also determine the swing arm telescopic direction and the telescopic amount based on the real-time height, the radius of the storage tank, the target painting position, etc., realizing intelligent and precise control of the painting operation, improving the painting efficiency and quality, and ensuring the operation safety.

[0060] Specifically, a single telescopic swing arm includes:

[0061] A swing arm main body, which includes a plurality of swing arm platforms 311. The swing arm platforms 311 are of a multi-section nested structure for adjusting its own telescopic length to make the manned hanging basket 4 approach or move away from the inner wall of the storage tank;

[0062] A power part, which is arranged at one end of the swing arm main body close to the elevating assembly 2 to provide power for the telescopic movement of the swing arm main body;

[0063] A limit switch is provided at the end of each swing arm platform 311 to limit the telescopic length of the swing arm body.

[0064] Among them, magnetic materials 312 are provided at the nested parts of each swing arm platform 311 to assist the telescopic movement of the swing arm platform 311 through magnetic field action.

[0065] It can be understood that the swing arm body adopts a multi-section nested structure, and each swing arm platform 311 can flexibly adjust its own telescopic length according to the distance between the inner wall of the storage tank and the manned hanging basket 4. The power unit provides the main driving force for the swing arm telescoping, enabling the swing arm to extend or retract according to the working requirements. The magnetic material 312 mainly uses magnetic force to assist in realizing the suspension and telescopic movement of the swing arm platform 311, which is an auxiliary power source. Based on the power provided by the power unit and with the help of the interaction between magnetic fields, the swing arm platform 311 can perform relative movement to a certain extent, reducing mechanical contact and friction, and making the telescopic process smoother and more flexible. The limit switch is used to limit the telescopic length of the swing arm body. When the swing arm body extends or retracts to the limit position, the corresponding limit switch will be triggered. The limit switch sends a trigger signal to the control component. After receiving the signal, the control component immediately stops the operation of the power unit, thereby limiting the telescopic length of the swing arm body, preventing the swing arm body from over-telescoping and causing structural damage or the device to lose balance, and ensuring the safe and stable operation of the entire painting support device.

[0066] In a specific embodiment, each swing arm platform 311 is made of high-strength alloy material to withstand various stresses and loads generated during operation. The power unit is hydraulically driven or motor-driven. When it is motor-driven, the power unit includes a driving motor and a transmission mechanism. The transmission mechanism adopts a lead screw-nut transmission pair. The output shaft of the driving motor is connected to the lead screw. When the driving motor rotates, it drives the lead screw to rotate, and the nut on the lead screw moves linearly along the lead screw. The nut is fixedly connected to the innermost swing arm platform 311, thereby realizing the telescoping of the swing arm body. The limit switch includes an upper limit switch and a lower limit switch. The upper limit switch is installed at the end of each swing arm platform 311 in the extending direction, and the lower limit switch is installed at the end of each swing arm platform 311 in the retracting direction. In practice, the specific composition of the power unit and the limit switch can be determined according to the actual situation, and no specific limitation is made here, nor will it be elaborated further.

[0067] The swing arm of the present invention is a multi - section nested telescopic structure, which is convenient for adjusting the lengths of the first telescopic swing arm 31 and the second telescopic swing arm 32 according to the target painting position, facilitating full - range painting. At the same time, the present invention uses magnetic materials 312 to be arranged at the nested parts of each swing arm platform 311, serving as an auxiliary power source on the basis of the power provided by the power unit, enabling the swing arm platform 311 to achieve relative movement, further reducing mechanical contact and friction, and making the telescopic process more stable and flexible. It further realizes intelligent and precise control of the painting operation, improves the painting efficiency and quality, and ensures the operation safety.

[0068] Specifically, the key stress - bearing parts include the connection parts between the lifting component 2 and the lifting component 5 and the middle column 1, the connection parts between the first telescopic swing arm 31 and the second telescopic swing arm 32 and the lifting component 2, the connection parts between the manned hanging basket 4 and the lifting component 5 and the swing arm, and the bottom of the manned hanging basket 4.

[0069] In a specific embodiment, the relative position change between the lifting component 2 and the middle column 1 will affect the center - of - gravity distribution of the entire device. Therefore, pressure sensors are arranged at the contact parts between the middle column 1 and the lifting component 2. The pressure sensors can obtain the pressure information of the lifting component 2 on the middle column 1. Pressure sensors are installed at the upper and lower ends where the middle column 1 is connected to the storage tank through a rotating bearing and a rotating disc. The upper - end pressure sensor can monitor the pressure on the top of the middle column 1 caused by the pulling force from the lifting component 5, and the lower - end pressure sensor can measure the pressure on the lower end of the middle column 1 generated by the weight of the entire device transmitted to the bottom of the storage tank. Torque sensors are installed at the connection points between the first telescopic swing arm 31 and the second telescopic swing arm 32 and the lifting component 2. The torque sensors can measure the torque received by the first telescopic swing arm 31 and the second telescopic swing arm 32 at the connection points, reflecting the magnitude of the external torque borne by the swing arms. Tensile sensors are installed at the connection parts between the manned hanging basket 4 and the swing arm to measure the tensile force of the swing arm on the manned hanging basket 4; at the same time, pressure sensors are installed at the bottom of the manned hanging basket 4 to monitor the weight distribution inside the manned hanging basket 4.

[0070] Specifically, the support component 6 includes:

[0071] A base, which is connected to the lower end of the middle column 1 to keep the device in a vertical state;

[0072] A number of telescopic legs, which are evenly distributed around the base. Displacement sensors are arranged on each telescopic leg to monitor the telescopic length of each telescopic leg;

[0073] A connecting piece, which is used to connect adjacent telescopic legs to enhance the connection strength between the telescopic legs;

[0074] A locking piece, which is arranged on each telescopic leg to fix each telescopic leg.

[0075] It can be understood that the entire device of the base provides a stable support foundation, and a number of telescopic legs transfer the weight of the device to the ground in a more balanced manner, avoiding the situation of excessive local force, and improving the stability and balance of the device. The displacement sensor can understand the support status of each part of the device by obtaining the telescopic length of the telescopic legs in real time. The connecting piece connects adjacent telescopic legs to enhance the connection strength between the telescopic legs. The locking piece is used to fix each telescopic leg. When the telescopic leg is adjusted to a suitable length, the locking piece is locked in position to prevent the telescopic leg from accidentally extending and retracting due to external forces or vibrations during the operation of the device, thereby ensuring that the support assembly 6 can continuously and stably provide support for the device.

[0076] In a specific embodiment, the connecting member may be a tension screw, and the lower end of the base and the telescopic leg are supported by the tension screw. The locking member may be mechanically locked, hydraulically locked, or electromagnetically locked, and the telescopic leg may be fixed at a specific length position by limiting the movement of the telescopic mechanism inside the telescopic leg to ensure the stability and safety of the support assembly 6. In implementation, the connecting member and the locking member may be determined according to actual conditions, and are not specifically limited here, and will not be described in detail.

[0077] Specifically, a hydraulic shock absorber is provided between adjacent telescopic legs to maintain smooth extension and retraction of the telescopic legs. Both ends of the hydraulic shock absorber are respectively connected to the upper sides of adjacent telescopic legs. A flexible shock-absorbing component is provided at the connection between the telescopic legs and the base to absorb and buffer the vibration generated between the telescopic legs and the base.

[0078] It is understandable that when the telescopic legs are telescopic, vibrations and shocks will be generated due to factors such as load changes, gaps in the mechanical structure, and instability of the drive system, resulting in an unstable telescopic process. The provision of hydraulic shock absorbers can suppress these vibrations and shocks, allowing the telescopic legs to telescope smoothly, ensuring the stability and reliability of the entire support device, and also helping to improve the accuracy of the displacement sensor in measuring the telescopic length.

[0079] It is understandable that during the operation of the device, the telescopic legs will transfer various forces to the base, which is connected to the middle column 1, and these forces may cause vibration and shaking. The flexible shock-absorbing components can play a role of buffering and isolation, absorbing the vibration generated between the telescopic legs and the base, and reducing the vibration transmitted to the base and the middle column 1, thereby ensuring the overall vertical state and stability of the device and avoiding adverse effects on the painting operation due to vibration.

[0080] In a specific embodiment, the flexible shock-absorbing component can be a spring shock absorber or a rubber shock absorber. In practice, the type of the flexible shock-absorbing component can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further. In the present invention, a hydraulic shock absorber is provided between each telescopic leg, and a flexible shock-absorbing component is provided at the connection between the telescopic leg and the base. The hydraulic shock absorber ensures the smoothness of the telescopic movement of the telescopic leg, and the flexible shock-absorbing component reduces the vibration transmission. The combined action of the two can significantly improve the stability of the entire support device, further ensure the smooth operation of the manned hanging basket 4, enhance the working safety, and further improve the painting quality and accuracy.

[0081] Please refer to Figure 3 as shown in Figure 3 which is a step diagram for determining the direction and degree of the center-of-gravity offset of the device in the embodiment of the present invention. Specifically, the control component constructs a device force model based on the force information and the swing-arm length, determines the real-time center-of-gravity position of the entire device according to the device force model, and determines the center-of-gravity offset direction and the center-of-gravity offset degree according to the real-time center-of-gravity position and the preset center-of-gravity position.

[0082] It can be understood that during the operation of the device, due to factors such as the telescoping of the swing arm and the movement of the manned hanging basket 4, the real-time center-of-gravity position of the device will constantly change. Therefore, it is necessary to determine the real-time center-of-gravity position in real time according to the newly collected force information, and make relevant adjustments to the device according to the change of the real-time center-of-gravity position, such as adjusting the telescoping length of the swing arm, the position of the lifting component 2, etc., to ensure the stability and safety of the device.

[0083] In a specific embodiment, each component is abstracted as a rigid body. For example, the middle column 1 is abstracted as a vertical rigid rod, the swing arm is abstracted as a telescopic lever, and the manned hanging basket 4 is regarded as a load with a certain mass distribution. A device force model is constructed by detecting the force information (pressure, tension, torque, and gravity) at key force-bearing parts. The device force model integrates parameters such as force information and telescoping length to calculate the real-time center-of-gravity position of the device in real time: determine the force conditions of the first telescopic swing arm 31 and the second telescopic swing arm 32 according to the swing-arm length of the swing arm, and at the same time perform an integral operation on the pressure data to obtain the pressure magnitude borne by the corresponding part, and analyze the torque data to obtain the torque condition of the swing arm. The device is divided into multiple small rigid-body units, and the equivalent mass and position of each rigid-body unit are calculated according to the monitored force information, and then the center-of-gravity coordinates of the entire device can be calculated by the weighted average method. In practice, the real-time center-of-gravity position of the entire device can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0084] In a specific embodiment, since the lifting component 2 moves up and down and the swing arm expands and contracts, the preset center-of-gravity position of the painting support device is not fixed. Therefore, no-load testing and simulated load testing can be carried out on the painting support device. When no painting operation is carried out and the device is unloaded, the lifting component 2 is set at different typical positions, such as the lowest position, the middle position, the highest position, etc., and the actual center-of-gravity position of the device at these positions is measured. At the same time, in the simulated load test, based on different load conditions, the lifting component 2 is placed at different positions to obtain the corresponding center-of-gravity positions, and a mathematical model among the center-of-gravity position, the position of the lifting component 2, and the corresponding swing-arm length is constructed, so as to determine the preset center-of-gravity position after the swing arm abuts against the storage tank wall corresponding to different positions of the lifting component 2. In implementation, the preset center-of-gravity position can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0085] In a specific embodiment, the center-of-gravity offset direction of the device can be determined by comparing the corresponding coordinate axis values of the real-time center-of-gravity position and the preset center-of-gravity position, and the center-of-gravity offset degree is the distance between the real-time center-of-gravity position and the preset center-of-gravity position.

[0086] The control component of the present invention constructs a device force model based on the force information of the key stress parts of the painting support device and the telescopic length, determines the real-time center-of-gravity position of the whole device according to the device force model, determines the center-of-gravity offset direction and the center-of-gravity offset degree according to the real-time center-of-gravity position and the preset center-of-gravity position, so as to further ensure the stability and safety of the device during operation, realize intelligent and precise painting operation control, improve the painting efficiency and quality, and ensure the operation safety.

[0087] Please refer to Figure 4 as shown in Figure 4 which is a step diagram for the telescopic adjustment of the telescopic support legs in the embodiment of the present invention. Specifically, the control component determines the telescopic support legs to be telescoped according to the center-of-gravity offset direction, determines the telescopic adjustment length of the telescopic support legs to be telescoped according to the center-of-gravity offset degree, the support height of each telescopic support leg, and the device force model, and performs telescopic adjustment on the telescopic support legs to be telescoped according to the telescopic adjustment length.

[0088] It can be understood that after determining the center-of-gravity offset direction, the length of the telescopic support legs in the center-of-gravity offset direction can be adjusted according to the center-of-gravity offset degree, the support height of each telescopic support leg, and the device force model, so as to maintain the center-of-gravity stability of the device. For example, if the device has four evenly distributed telescopic support legs, which are respectively marked as A, B, C, and D, if the center of gravity offsets towards the A and B directions, then the A and B support legs are the telescopic support legs to be telescoped. By adjusting the lengths of these legs close to the offset direction, the distribution of the supporting force can be changed, thereby correcting the center-of-gravity offset.

[0089] It is understandable that the degree of center of gravity offset is directly proportional to the telescopic adjustment length. The greater the degree of center of gravity offset, the farther the device deviates from the balanced state. Correspondingly, the length that the telescopic leg needs to adjust is also greater. The force model of the device is established based on the structure of the device, the mass distribution of each component, and mechanical principles, which can help determine the force that each telescopic leg needs to bear and the corresponding telescopic amount under different center of gravity offsets.

[0090] In a specific embodiment, by combining the force model of the device and the degree of center of gravity offset, the additional resultant force that the telescopic legs of the painting support device need to bear after restoring to the preset center of gravity position and restoring balance can be determined. According to the additional resultant force and the support height of each telescopic leg, the telescopic adjustment length of the telescopic legs can be determined using the formula of mechanics of materials. In practice, the telescopic adjustment length of the telescopic legs can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0091] The control component of the present invention determines the telescopic legs according to the direction of center of gravity offset, and determines the telescopic adjustment length of the telescopic legs according to the degree of center of gravity offset, the support height of each telescopic leg, and the force model of the device, so as to change the distribution of the supporting force, correct the center of gravity offset of the device, further ensure the stability and safety of the device during operation, realize intelligent and precise painting operation control, and improve the painting efficiency and quality.

[0092] Specifically, the control component monitors the actual force values of each telescopic leg or the telescopic speed of each telescopic leg to be adjusted, and determines the abnormal telescopic state according to the comparison result between the actual force value and the preset force range or the comparison result between the telescopic speed and the preset telescopic speed range.

[0093] It is understandable that the preset force range is the force threshold determined according to the load-bearing capacity of the device in the ideal stable support state. If the actual force value exceeds the preset force range, it means that the telescopic adjustment of the telescopic leg is excessive, and it is determined as an abnormal telescopic state; or according to the operation requirements and safety considerations of the device, a preset telescopic speed range will be set as the speed adjustment threshold for the telescopic leg. If the telescopic speed is too fast and exceeds the preset telescopic speed range or is lower than the preset telescopic speed range, it is determined as an abnormal telescopic state. The abnormal telescopic speed may indicate a malfunction of the telescopic mechanism, such as abnormal motor speed, hydraulic system blockage, etc., which needs to be processed in time to ensure the normal operation and safety of the device.

[0094] In a specific embodiment, the preset force range is 10 - 30 kN, and the preset telescopic speed range is 0.3 cm / s - 0.5 cm / s. In practice, the preset force range and the preset telescopic speed range can be determined according to the actual situation, which is not specifically limited here and will not be elaborated further.

[0095] The present invention determines the abnormal telescopic state according to the telescopic speed or actual force value of each telescopic leg, timely detects the fault problems during the operation of the painting support device, ensures the normal operation and safety of the device, further realizes the intelligent and precise control of the painting operation, and improves the painting efficiency and quality.

[0096] Specifically, the control component determines the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank, and the target painting position, where

[0097] if the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is less than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, then the first telescopic swing arm 31 and the second telescopic swing arm 32 extend away from the middle column 1;

[0098] if the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is greater than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, then the first telescopic swing arm 31 and the second telescopic swing arm 32 contract towards the middle column 1.

[0099] It can be understood that since the storage tank is a spherical tank, when the vertical distance corresponding to the target painting position is less than the real-time height and higher than the radius of the storage tank, it means that both the target painting position and the real-time painting position are located in the upper half of the spherical tank cross-section. Therefore, in order to lower the lifting component 2 to the target painting position and ensure that the manned hanging basket 4 walks along the wall, the first telescopic swing arm 31 and the second telescopic swing arm 32 are extended. When the vertical distance corresponding to the target painting position is greater than the real-time height and higher than the radius of the storage tank, in order to raise the lifting component 2 to the target painting position and ensure that the manned hanging basket 4 walks along the wall, the first telescopic swing arm 31 and the second telescopic swing arm 32 are shortened.

[0100] It can be understood that when the real-time height of the lifting component 2 is also lower than the radius of the storage tank, in combination with the real-time height and the target painting position, the first telescopic swing arm 31 and the second telescopic swing arm 32 can be extended / shortened accordingly.

[0101] Specifically, the control component determines the transverse length of the corresponding swing arm according to the target painting position and the shape of the storage tank cross-section, and determines the telescopic amount of the first telescopic swing arm 31 and the second telescopic swing arm 32 according to the transverse length and the swing arm length.

[0102] It can be understood that the horizontal length is the length of the first telescopic swing arm 31 and the second telescopic swing arm 32 at the position of the corresponding lifting component 2 under the target painting position. The length of the swing arm is the current length of the first telescopic swing arm 31 and the second telescopic swing arm 32. Since the storage tank is spherical, according to the painting requirements, the positions of the corresponding lifting components 2 are different, and the corresponding horizontal lengths are different due to the limitation of the cross-sectional shape of the storage tank. Therefore, the telescopic amount of the swing arm is determined according to the actual length of the swing arm and the horizontal length corresponding to the target painting position, so as to better complete the painting task.

[0103] In a specific embodiment, in the cross-sectional circle of the storage tank, according to the relative relationship between the target painting position and the position of the lifting component 2, the horizontal length is calculated by using geometric methods such as trigonometric functions or the Pythagorean theorem, and the telescopic amount is the absolute difference between the horizontal length and the length of the swing arm.

[0104] The present invention determines the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank and the target painting position, and determines the telescopic amount of the swing arm according to the target painting position, the cross-sectional shape of the storage tank and the length of the swing arm, realizing intelligent and precise painting operation control, facilitating all-round painting, and improving the painting efficiency and quality.

[0105] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A coating support device for the inner wall of a storage tank, characterized in that, Comprising: An intermediate column disposed inside the storage tank along the vertical center line of the storage tank; A lifting assembly sleeved outside the intermediate column; Swing arms disposed on both sides of the lifting assembly, including a first telescopic swing arm and a second telescopic swing arm respectively disposed on both sides of the lifting assembly, and a manned hanging basket that moves along the inner wall of the storage tank is connected to one end of the first telescopic swing arm and the second telescopic swing arm away from the lifting assembly; A lifting assembly disposed at the upper end of the intermediate column, which is respectively connected to the side of the swing arm close to the manned hanging basket to provide a pulling force to balance the gravity of the swing arm and the manned hanging basket; A support assembly disposed at the lower end of the intermediate column, and A monitoring assembly for real-time monitoring of the force information of the key stress parts of the painting support device, the swing arm length of the swing arm, and the real-time height of the lifting assembly from the bottom of the inner wall of the storage tank; A control assembly for determining the real-time center of gravity position of the device according to the force information and the swing arm length to determine the center of gravity offset direction and the center of gravity offset degree, and determining the adjustment method for the support assembly according to the center of gravity offset direction and the center of gravity offset degree, determining the telescopic direction of the swing arm according to the real-time height, the storage tank radius and the target painting position, and determining the telescopic amount of the swing arm according to the target painting position, the storage tank cross-sectional shape and the swing arm length.

2. The coating support device for the inner wall of the storage tank according to claim 1, wherein Each telescopic swing arm of the swing arm includes: A swing arm main body, which includes a plurality of swing arm platforms, and the swing arm platforms are multi-section nested structures for adjusting their own telescopic lengths to make the manned hanging basket approach or move away from the inner wall of the storage tank; A power part disposed at one end of the swing arm main body close to the lifting assembly for providing power for the telescopic movement of the swing arm main body; Limit switches disposed at the ends of each section of the swing arm platform for limiting the telescopic length of the swing arm main body; Wherein, magnetic materials are provided at the nested parts of each section of the swing arm platform for assisting the telescopic movement of the swing arm platform through magnetic field action.

3. The coating support device for the inner wall of the storage tank according to claim 1, characterized in that The key stress parts include the connection parts of the lifting assembly and the lifting assembly with the intermediate column, the connection parts of the first telescopic swing arm and the second telescopic swing arm with the lifting assembly, the connection parts of the manned hanging basket and the lifting assembly with the swing arm, and the bottom of the manned hanging basket.

4. The coating support device for the inner wall of the storage tank according to claim 1, wherein, The support assembly includes: A base connected to the lower end of the intermediate column for keeping the device in a vertical state; A plurality of telescopic legs evenly distributed around the base, and displacement sensors are provided on each telescopic leg for monitoring the telescopic length of each telescopic leg; A connecting piece for connecting adjacent telescopic legs to enhance the connection strength between the telescopic legs; Locking pieces provided on each telescopic leg for fixing each telescopic leg.

5. The coating support device for the inner wall of the storage tank according to claim 4, wherein Hydraulic shock absorbers for keeping the telescopic legs telescoping smoothly are provided between adjacent telescopic legs, and both ends of the hydraulic shock absorbers are respectively connected to the upper sides of adjacent telescopic legs. Flexible shock-absorbing components are provided at the connection parts of the telescopic legs and the base for absorbing and buffering the vibration generated between the telescopic legs and the base.

6. The coating support device for the inner wall of the storage tank according to claim 5, wherein The control assembly constructs a device force model according to the force information and the swing arm length, determines the real-time center of gravity position of the whole device according to the device force model, and determines the center of gravity offset direction and the center of gravity offset degree according to the real-time center of gravity position and the preset center of gravity position.

7. The coating support device for the inner wall of the storage tank according to claim 6, characterized in that, The control component determines the telescopic legs to be adjusted in telescopic length according to the center-of-gravity offset direction, determines the telescopic adjustment length of the telescopic legs to be adjusted according to the center-of-gravity offset degree, the support height of each telescopic leg, and the device force model, and performs telescopic adjustment on the telescopic legs to be adjusted according to the telescopic adjustment length.

8. The coating support device for the inner wall of the storage tank according to claim 7, wherein, The control component monitors the actual force values of each telescopic leg or the telescopic speed of each telescopic leg to be adjusted, and determines the abnormal telescopic state according to the comparison result between the actual force value and the preset force range or the comparison result between the telescopic speed and the preset telescopic speed range.

9. The coating support device for the inner wall of the storage tank according to claim 1, wherein The control component determines the telescopic direction of the swing arm according to the real-time height, the radius of the storage tank, and the target painting position. Among them, if the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is less than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, the first telescopic swing arm and the second telescopic swing arm extend away from the middle column; if the vertical distance between the target painting position and the bottom of the storage tank in the vertical direction is greater than the real-time height and greater than the radius of the storage tank, and the real-time height is greater than the radius of the storage tank, the first telescopic swing arm and the second telescopic swing arm contract towards the middle column.

10. The coating support device for the inner wall of the storage tank according to claim 9, characterized in that, The control component determines the lateral length of the corresponding swing arm according to the target painting position and the cross-sectional shape of the storage tank, and determines the telescopic amounts of the first telescopic swing arm and the second telescopic swing arm according to the lateral length and the swing arm length.

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