A conveying device and method for assisting a wall-climbing robot in entering a tank

Abstract

The present invention provides a conveying device and method for assisting a wall-climbing robot to enter a tank, which relates to the field of loading equipment and includes a transport vehicle, a lifting mechanism, a horizontal telescopic mechanism, a rotating base mechanism and a winch. The lifting mechanism of the present invention is used to adjust the height, the horizontal telescopic mechanism is used to drive the wall-climbing robot to probe into the storage tank, and the winch pulls the horizontally placed wall-climbing robot to a vertical position. The conveying device of the present invention is designed with a multi-degree-of-freedom optimized structure, so that it can effectively replace the existing manually transported wall-climbing robots, and realizes the integration of transportation, transshipment, tank entry, and wall climbing functions; the present invention realizes automatic tank entry and wall climbing operations by performing horizontal 90-degree switching, vertical 90-degree switching, and translational transportation on the wall-climbing robot; the present invention can drive the wall-climbing robot to achieve a large range of height and penetration depth adjustment, so that it can adapt to tank openings of different heights and depths, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the field of loading equipment, and in particular to a conveying device and method for assisting a wall-climbing robot in entering a tank. Background Art

[0002] For storage tanks such as oil tanks and grain storage tanks, the internal walls need to be cleaned to remove residual oil stains or grain debris attached to the walls to ensure real-time hygiene and environmental protection. Remote-controlled wall-climbing robots are currently used for cleaning operations. When not working, the wall-climbing robots are stored in offices or factories. Such wall-climbing robots weigh about 100 kilograms and need to be manually carried to the storage location by two people and manually transported into the storage tank. However, the manhole size is greatly limited, generally about 600mm in diameter, which poses a safety hazard during transportation and is time-consuming and labor-intensive. In addition, the magnet of the wall-climbing robot may also attract the manhole during transportation. In addition, some storage tanks do not allow people to enter the tank, which greatly limits the manual transportation method.

[0003] Since the wall-climbing robot itself adopts a magnetic structure, and storage tanks are mostly made of metal materials that are attracted by magnets, when the wall-climbing robot is placed horizontally directly on the metal ground, it will automatically be attracted, and the attraction force is very strong. It can only be lifted by two people pulling hard, and then lifted to the side wall, and the wall-climbing robot is flipped into a vertical state before it can be attracted to the side wall. The operation is inconvenient and cumbersome, and there are hidden dangers to operational safety. Therefore, how to efficiently and safely transport the wall-climbing robot into the tank and assist the wall-climbing robot to complete the wall climbing has become an urgent problem to be solved by technical personnel in this field. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a conveying device and method for assisting a wall-climbing robot to enter a tank, which can effectively replace the existing manual handling of the wall-climbing robot and realize the integration of transportation, transshipment, tank entry, and wall climbing functions.

[0005] The present invention is achieved through the following technical solutions:

[0006] A conveying device for assisting a wall-climbing robot in entering a tank comprises a transport vehicle, a lifting mechanism, a horizontal telescopic mechanism, a rotating base mechanism and a winch. The lifting mechanism is arranged on the transport vehicle, the lifting mechanism is fixedly connected to the transport vehicle, the fixed portion of the horizontal telescopic mechanism is fixedly connected to the lifting end of the lifting mechanism, the fixed portion of the rotating base mechanism is fixedly connected to the moving portion of the horizontal telescopic mechanism, and the rotating portion of the rotating base mechanism is used to place the wall-climbing robot, wherein:

[0007] The transport vehicle is used to drive the lifting mechanism, the horizontal telescopic mechanism, the rotating base mechanism, the hoist and the wall-climbing robot to move as a whole to the tank mouth;

[0008] The rotating base mechanism is used to temporarily place and limit the wall-climbing robot, and to drive the wall-climbing robot to rotate and adjust;

[0009] The lifting mechanism is used to drive the horizontal telescopic mechanism, the rotating base mechanism, the hoist and the wall-climbing robot to move up and down;

[0010] The horizontal telescopic mechanism is used to drive the rotating base mechanism, the hoist and the wall-climbing robot to move horizontally;

[0011] The hoist is used to pull the horizontally placed wall-climbing robot to a vertical position.

[0012] It can be seen that in the above technical solution, the lifting mechanism of the present invention is used to adjust the height, the horizontal telescopic mechanism is used to drive the wall-climbing robot to explore the storage tank, and the winch pulls the horizontally placed wall-climbing robot to a vertical position. The conveying device of the present invention is designed with multiple degrees of freedom and optimized structure, so that it can effectively replace the existing manual handling of wall-climbing robots, and realizes the integration of transportation, transshipment, tank entry, and wall climbing functions; the present invention can drive the wall-climbing robot to achieve a large range of height and penetration depth adjustment, thereby enabling it to adapt to tank openings of different heights and depths, and has a wide range of applications.

[0013] According to the above technical solution, preferably, the lifting mechanism includes a door-type bracket, a lifting platform, a first screw assembly and two groups of lifting plates, the door-type bracket is fixedly connected to the transport vehicle, the lifting plate is vertically fixedly connected to the front and rear sides of the lifting platform, the lifting plate is slidingly connected to the side of the door-type bracket through a slide rail assembly, the first screw assembly is arranged on the door-type bracket, the upper end of the lifting plate is fixedly connected to the fixed part of the horizontal telescopic mechanism, and the first screw assembly drives the lifting platform, the lifting plate and the horizontal telescopic mechanism to slide up and down synchronously.

[0014] According to the above technical solution, preferably, the horizontal telescopic mechanism includes a first-level telescopic component and a second-level telescopic component with progressive drive, the first-level telescopic component is vertically fixedly connected to the lifting plate, the rotating base mechanism and the winch are arranged on the second-level telescopic component, and the first-level telescopic component drives the second-level telescopic component to move horizontally.

[0015] According to the above technical solution, preferably, the first-level telescopic assembly includes a bar fixed plate, a first telescopic arm, a second telescopic arm and a driving unit, the first telescopic arm is slidably connected to the bar fixed plate, the second telescopic arm is slidably connected to the first telescopic arm, the driving unit includes a servo motor, a main gear, multiple sets of gear groups, a bar tooth plate, multiple sets of sprockets and chains, the servo motor is fixedly connected to the bar fixed plate, the main gear and the gear group are rotatably connected to the bar fixed plate through a rotating shaft, the servo motor drives the main gear, the main gear is meshed with the gear group for transmission, the bar tooth plate is fixedly connected to the lower surface of the first telescopic arm, the bar tooth plate is meshed with the gear group for transmission, the sprocket is arranged on the first telescopic arm and the second telescopic arm, the chain cooperates with the sprocket, and the second telescopic arm and the first telescopic arm telescopically slide in the same direction.

[0016] According to the above technical solution, preferably, the secondary telescopic assembly includes a third telescopic arm and a second screw assembly, the third telescopic arm is slidingly connected to the second telescopic arm, the second screw assembly is arranged on the second telescopic arm, and the second screw assembly drives the third telescopic arm to telescopically slide.

[0017] According to the above technical solution, preferably, the first screw assembly and the second screw assembly each include a drive motor, a screw rod and a nut member, the drive motor drives the screw rod to rotate, and the nut member is threadedly engaged with the screw rod.

[0018] According to the above technical solution, preferably, the rotating base mechanism includes an electric slewing support and a clamping seat, the fixed part of the electric slewing support is fixedly connected to the end of the third telescopic arm, and the clamping seat is fixedly connected to the rotating part of the electric slewing support, and the clamping seat is used to temporarily place and limit the wall-climbing robot.

[0019] According to the above technical solution, preferably, distance measuring sensors are respectively provided on the front and rear sides of the transport vehicle, and an obstacle avoidance sensor is provided at the front end of the horizontal telescopic mechanism. The obstacle avoidance sensor is used to sense obstacles, and the distance measuring sensor is used to measure the distance to the object in front.

[0020] A method for assisting a wall-climbing robot in conveying materials into a tank, using the above-mentioned conveying device for assisting a wall-climbing robot in conveying materials into a tank, comprises the following steps:

[0021] Step 1: The wall-climbing robot is placed horizontally on a rotating base mechanism, which is used to temporarily place and limit the wall-climbing robot. At this time, the permanent magnets on both sides of the lower part of the wall-climbing robot are suspended in the air. The transport vehicle is started, and the wall-climbing robot is moved to the tank opening of the storage tank. The transport vehicle is locked to the ground using leveling legs or locking parts.

[0022] Step 2: The first screw assembly of the lifting mechanism drives the lifting platform. At this time, the two sets of lifting plates drive the horizontal telescopic mechanism, the rotating base mechanism, the winch, and the wall-climbing robot to move upward, so that the axial direction of the horizontal telescopic mechanism is facing the tank mouth;

[0023] Step 3: The rotating base mechanism drives the wall-climbing robot to rotate 90 degrees so that the wall-climbing robot is aligned with the tank opening longitudinally;

[0024] Step 4: The first-level telescopic assembly of the horizontal telescopic mechanism is activated, and the first-level telescopic assembly drives the second-level telescopic assembly, rotating base mechanism, winch, and wall-climbing robot to achieve initial translation. At this time, the first-level telescopic assembly, rotating base mechanism, winch, and wall-climbing robot enter the tank opening. At the same time, the second-level telescopic assembly is activated, and the rotating base mechanism, winch, and wall-climbing robot achieve secondary translation until they are completely inside the storage tank.

[0025] Step 5: The rotating base mechanism drives the wall-climbing robot to rotate 90 degrees in the opposite direction again. At this time, the wall-climbing robot is facing the tank opening horizontally. The hook of the winch locks the lifting ring of the wall-climbing robot. The winch slowly pulls the wall-climbing robot so that the tail wheel bracket at the rear of the wall-climbing robot sits on the polyurethane pad. At this time, the wall-climbing robot slowly flips from the horizontal state to the vertical state.

[0026] Step 6. The first screw assembly of the lifting mechanism drives the lifting platform for the second time. At this time, the two sets of lifting plates drive the wall-climbing robot to move upward until the permanent magnet of the wall-climbing robot is facing the inner wall of the storage tank. The secondary telescopic assembly and / or the primary telescopic assembly shrinks until the permanent magnet of the wall-climbing robot is adsorbed on the inner wall of the storage tank, and the hook of the winch is released, thereby completing the complete process of the wall-climbing robot entering the tank mouth.

[0027] The beneficial effects of the present invention are:

[0028] (1) The lifting mechanism of the present invention is used to adjust the height, the horizontal telescopic mechanism is used to drive the wall-climbing robot into the storage tank, and the winch pulls the horizontally placed wall-climbing robot to a vertical position. The conveying device of the present invention is designed with a multi-degree-of-freedom optimized structure, so that it can effectively replace the existing manual handling of the wall-climbing robot, realizing the integration of transportation, transfer, tank entry, and wall climbing functions;

[0029] (2) The conveying method of the present invention can realize a full range of magnetic isolation design for the ground and the tank mouth by switching the wall-climbing robot horizontally 90 degrees, switching vertically 90 degrees, and performing translational conveying, thereby realizing efficient and stable conveying of the wall-climbing robot, enabling it to realize automated tank entry and wall climbing operations;

[0030] (3) The present invention can drive the wall-climbing robot to achieve a wide range of height and penetration depth adjustment, thereby enabling it to adapt to tank openings of different heights and depths, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shows an isometric structural diagram of the present invention and the wall-climbing robot;

[0032] Figure 2 The isometric structural diagram of the horizontal telescopic mechanism, rotating base mechanism, hoist and wall-climbing robot in the present invention is shown;

[0033] Figure 3 It shows the isometric structural diagram of the transport vehicle and the lifting mechanism in the present invention;

[0034] Figure 4 It shows the isometric structural diagram of the wall-climbing robot driven by the present invention in the unfolded state;

[0035] Figure 5 It shows a schematic diagram of the isometric structure of the horizontal telescopic mechanism of the present invention in the expanded state;

[0036] Figure 6 It shows the isometric structural diagram of the lifting mechanism in the present invention;

[0037] Figure 7 It shows an isometric structural diagram of the present invention driving a wall-climbing robot into a tank;

[0038] Figure 8 It shows a side view of the structure of the present invention after driving the wall-climbing robot into the tank;

[0039] Figure 9 A schematic diagram of the side structure of the wall-climbing robot driven by the present invention to flip vertically 90 degrees is shown;

[0040] Figure 10 A schematic side view of the structure of the wall-climbing robot driven by the present invention when climbing a wall is shown;

[0041] Description of reference numerals:

[0042] 1. Transport vehicle; 2. Lifting mechanism; 3. Horizontal telescopic mechanism; 4. Rotating base mechanism; 5. Winch; 6. Electric slewing bearing; 7. Card seat; 8. Wall-climbing robot; 9. Gantry bracket; 10. Lifting platform; 11. First screw assembly; 12. Lifting plate; 13. First telescopic assembly; 14. Second telescopic assembly; 15. Bar fixing plate; 16. First telescopic arm; 17. Second telescopic arm; 18. Servo motor; 19. Main gear; 20. Gear set; 21. Sprocket; 22. Third telescopic arm; 23. Second screw assembly; 24. Drive motor; 25. Screw; 26. Distance sensor; 27. Obstacle avoidance sensor; 28. Hook; 29. ​​Lifting ring; 30. Polyurethane pad; 31. Permanent magnet; 32. Tank mouth; 33. Leveling legs; 34. Motor; 35. Drive shaft; 36. Controller; 37. Chain; 38. Bar gear plate. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and the best embodiment. Based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of the invention.

[0044] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the invention. Example 1

[0045] like Figure 1-10 As shown, this embodiment provides a conveying device for assisting a wall-climbing robot to enter a tank, comprising a transport vehicle 1, a lifting mechanism 2, a horizontal telescopic mechanism 3, a rotating base mechanism 4, and a winch 5. The lifting mechanism 2 is arranged on the transport vehicle 1, the lifting mechanism 2 is fixedly connected to the transport vehicle 1, the fixed portion of the horizontal telescopic mechanism 3 is fixedly connected to the lifting end of the lifting mechanism 2, the fixed portion of the rotating base mechanism 4 is fixedly connected to the moving portion of the horizontal telescopic mechanism 3, and the rotating portion of the rotating base mechanism 4 is used to place the wall-climbing robot 8, wherein,

[0046] The transport vehicle 1 is used to drive the lifting mechanism 2, the horizontal telescopic mechanism 3, the rotating base mechanism 4, the winch 5 and the wall-climbing robot 8 to move as a whole to the tank opening 32. The transport vehicle 1 includes a vehicle body, a motor 34, a transmission shaft 35 and a controller 36. The motor 34 drives the wheels to rotate through the transmission shaft 35. The controller 36 is electrically connected to the motor 34. The transport vehicle 1 of this embodiment is preferably a crawler transport vehicle 1, which is used to meet the requirements of smooth transportation in complex environments.

[0047] The rotating base mechanism 4 is used to temporarily place and limit the wall-climbing robot 8, and to drive the wall-climbing robot 8 to rotate and adjust. The rotating base mechanism 4 here includes an electric slewing support 6 and a clamping seat 7. The fixed portion of the electric slewing support 6 is fixedly connected to the end of the horizontal telescopic mechanism 3. The clamping seat 7 is fixedly connected to the rotating portion of the electric slewing support 6. The clamping seat 7 is used to temporarily place and limit the wall-climbing robot 8.

[0048] The lifting mechanism 2 is used to drive the horizontal telescopic mechanism 3, the rotating base mechanism 4, the winch 5 and the wall-climbing robot 8 to rise and fall. The lifting mechanism 2 here includes a door-shaped bracket 9, a lifting platform 10, a first screw assembly 11 and two sets of lifting plates 12. The door-shaped bracket 9 is fixedly connected to the transport vehicle 1. The lifting plate 12 is vertically fixedly connected to the front and rear sides of the lifting platform 10. The lifting plate 12 is slidably connected to the side of the door-shaped bracket 9 through a slide rail assembly. The slide rail assembly here includes a sliding rail and a slider in a sliding connection. The slide rail is fixedly connected to the door-shaped bracket, and the slide rail is fixedly connected to the lifting plate. The first screw assembly 11 is arranged on the door-shaped bracket 9. The upper end of the lifting plate 12 is fixedly connected to the fixed part of the horizontal telescopic mechanism 3. The first screw assembly 11 drives the lifting platform 10, the lifting plate 12 and the horizontal telescopic mechanism 3 to slide up and down synchronously.

[0049] The horizontal telescopic mechanism 3 is used to drive the rotating base mechanism 4, the hoist 5 and the wall-climbing robot 8 to move horizontally; the horizontal telescopic mechanism 3 here includes a progressively driven first-stage telescopic component 13 and a second-stage telescopic component 14, the lower end surface of the first-stage telescopic component 13 is vertically fixedly connected to the lifting plate 12, the rotating base mechanism 4 and the hoist 5 are arranged on the second-stage telescopic component 14, the first-stage telescopic component 13 drives the second-stage telescopic component 14 to move horizontally, wherein the first-stage telescopic component 13 includes a strip fixed plate 15, a first telescopic arm 16, a second telescopic arm 17 and a driving unit, and the first telescopic arm 16 is slidably connected to the strip fixed plate 15, and the second telescopic arm 17 is slidably connected to the first telescopic arm 16, and the driving unit includes a servo motor 18, a main gear 19, multiple sets of gear groups 20, a strip tooth plate 38, multiple sets of sprockets 21 and The chain 37 and the servo motor 18 are fixedly connected to the bar-shaped fixed plate 15, the main gear 19 and the gear set 20 are rotatably connected to the bar-shaped fixed plate 15 through a rotating shaft, the servo motor 18 drives the main gear 19, the main gear 19 is meshed with the gear set 20 for transmission, the bar-shaped toothed plate 38 is fixedly connected to the lower surface of the first telescopic arm 16, the bar-shaped toothed plate is meshed with the gear set 20 for transmission, the sprocket 21 is arranged on the first telescopic arm 16 and the second telescopic arm 17, the chain 37 cooperates with the sprocket 21, the second telescopic arm 17 and the first telescopic arm 16 telescopically slide in the same direction; the secondary telescopic assembly 14 includes a third telescopic arm 22 and a second screw assembly 23, the third telescopic arm 22 is slidably connected to the second telescopic arm 17, the second screw assembly 23 is arranged on the second telescopic arm 17, and the second screw assembly 23 drives the third telescopic arm 22 to telescopically slide;

[0050] The hoist 5 is used to pull the horizontally placed wall-climbing robot 8 to a vertical position.

[0051] The lifting mechanism 2 of the present invention is used to adjust the height, the horizontal telescopic mechanism 3 is used to drive the wall-climbing robot 8 to explore the storage tank, and the winch 5 pulls the horizontally placed wall-climbing robot 8 to a vertical position. The conveying device of the present invention is designed with multiple degrees of freedom and optimized structure, so that it can effectively replace the existing manual handling of the wall-climbing robot 8, and realizes the integration of transportation, transshipment, tank entry, and wall climbing functions; the present invention can drive the wall-climbing robot 8 to achieve a large range of height and penetration depth adjustment, thereby enabling it to adapt to tank openings 32 of different heights and depths, and has a wide range of applications.

[0052] Optionally, in a possible embodiment, the first screw assembly 11 and the second screw assembly 23 both include a drive motor 24 , a screw rod 25 and a nut member, the drive motor 24 drives the screw rod 25 to rotate, and the nut member is threadedly engaged with the screw rod 25 .

[0053] Optionally, in one possible embodiment, a distance measuring sensor 26 is provided on the front and rear sides of the transport vehicle 1, and an obstacle avoidance sensor 27 is provided at the front end of the horizontal telescopic mechanism 3 to prevent problems such as scratches and collisions when entering the tank mouth. The obstacle avoidance sensor 27 is used to sense obstacles, and the distance measuring sensor 26 is used to measure the distance to the object in front.

[0054] Optionally, in a possible implementation manner, a plurality of buffer units are provided between the lifting mechanism and the transport vehicle to mitigate rigid contact. Example 2

[0055] like Figure 1-10 As shown, the present invention also discloses a method for assisting a wall-climbing robot in entering a tank, which adopts the above-mentioned embodiment 1's conveying device for assisting a wall-climbing robot in entering a tank, and includes the following steps:

[0056] Step 1: The wall-climbing robot 8 is placed horizontally on the rotating base mechanism 4. The rotating base mechanism 4 is used to temporarily place and limit the wall-climbing robot 8. At this time, the permanent magnets 31 on both sides of the lower part of the wall-climbing robot 8 are suspended as a whole, which plays a magnetic isolation effect and avoids magnetic adsorption during driving. The transport vehicle 1 is started, and the wall-climbing robot 8 is moved to the tank opening 32 of the storage tank. The transport vehicle 1 is locked to the ground using the leveling legs 33 or locking parts, thereby ensuring the overall stability of the equipment.

[0057] Step 2: The first screw assembly 11 of the lifting mechanism 2 drives the lifting platform 10. At this time, the two sets of lifting plates 12 drive the horizontal telescopic mechanism 3, the rotating base mechanism 4, the hoist 5, and the wall-climbing robot 8 to move upward, so that the axial direction of the horizontal telescopic mechanism 3 is facing the tank opening 32;

[0058] Step 3: The rotating base mechanism 4 drives the wall-climbing robot 8 to rotate 90 degrees so that the wall-climbing robot 8 is aligned longitudinally with the tank opening 32 to avoid scratching and interference when entering the tank opening;

[0059] Step 4: The first-stage telescopic assembly 13 of the horizontal telescopic mechanism 3 is activated, and the first-stage telescopic assembly 13 drives the second-stage telescopic assembly 14, the rotating base mechanism 4, the hoist 5, and the wall-climbing robot 8 to achieve initial translation. At this time, the first-stage telescopic assembly, the rotating base mechanism 4, the hoist 5, and the wall-climbing robot 8 penetrate into the tank opening 32. At the same time, the second-stage telescopic assembly 14 is activated, and the rotating base mechanism 4, the hoist 5, and the wall-climbing robot 8 achieve secondary translation until they completely enter the storage tank.

[0060] Step 5: The rotating base mechanism 4 drives the wall-climbing robot 8 to rotate 90 degrees in the opposite direction again. At this time, the wall-climbing robot 8 is facing the tank opening 32 horizontally. The hook 28 of the hoist 5 locks the lifting ring 29 of the wall-climbing robot 8. The hoist 5 slowly pulls the wall-climbing robot 8 so that the tail wheel bracket behind the wall-climbing robot 8 is seated on the polyurethane pad 30. At this time, the wall-climbing robot 8 slowly flips from the horizontal state to the vertical state.

[0061] Step 6. The first screw assembly 11 of the lifting mechanism 2 drives the lifting platform 10 for the second time. At this time, the two sets of lifting plates 12 drive the wall-climbing robot 8 to move upward until the permanent magnet 31 of the wall-climbing robot 8 is facing the inner wall of the storage tank. The secondary telescopic assembly 14 and / or the primary telescopic assembly 13 shrink until the permanent magnet 31 of the wall-climbing robot 8 is adsorbed on the inner wall of the storage tank, and the hook 28 of the winch 5 is released, thereby completing the complete process of the wall-climbing robot 8 entering the tank port 32.

[0062] The lifting mechanism of the present invention is used to adjust the height, the horizontal telescopic mechanism is used to drive the wall-climbing robot to explore the storage tank, and the winch pulls the horizontally placed wall-climbing robot to a vertical position. The conveying device of the present invention is designed with a multi-degree-of-freedom optimized structure, so that it can effectively replace the existing manual handling of wall-climbing robots, and realizes the integration of transportation, transshipment, tank entry, and wall climbing functions; the conveying method of the present invention can realize a full range of magnetic isolation design for the ground and tank mouth by performing horizontal 90-degree switching, vertical 90-degree switching, and translational conveying of the wall-climbing robot, thereby realizing efficient and smooth conveying of the wall-climbing robot, so that it can realize automated tank entry and wall climbing operations; the present invention can drive the wall-climbing robot to achieve a large range of height and penetration depth adjustment, thereby enabling it to adapt to tank mouths of different heights and depths, and has a wide range of applications.

[0063] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A conveying device for assisting a wall-climbing robot to enter a tank, characterized in that: It includes a transport vehicle, a lifting mechanism, a horizontal telescopic mechanism, a rotating base mechanism and a winch. The lifting mechanism is arranged on the transport vehicle, the lifting mechanism is fixedly connected to the transport vehicle, the fixed part of the horizontal telescopic mechanism is fixedly connected to the lifting end of the lifting mechanism, the fixed part of the rotating base mechanism is fixedly connected to the moving part of the horizontal telescopic mechanism, and the rotating part of the rotating base mechanism is used to place the wall-climbing robot, wherein, The transport vehicle is used to drive the lifting mechanism, the horizontal telescopic mechanism, the rotating base mechanism, the hoist and the wall-climbing robot to move as a whole to the tank mouth; The rotating base mechanism is used to temporarily place and limit the wall-climbing robot, and to drive the wall-climbing robot to rotate and adjust; The lifting mechanism is used to drive the horizontal telescopic mechanism, the rotating base mechanism, the hoist and the wall-climbing robot to move up and down; The horizontal telescopic mechanism is used to drive the rotating base mechanism, the hoist and the wall-climbing robot to move horizontally; The hoist is used to pull the horizontally placed wall-climbing robot to a vertical position.

2. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 1, characterized in that: The lifting mechanism includes a door-shaped bracket, a lifting platform, a first screw assembly and two groups of lifting plates. The door-shaped bracket is fixedly connected to the transport vehicle, and the lifting plate is vertically fixedly connected to the front and rear sides of the lifting platform. The lifting plate is slidably connected to the side of the door-shaped bracket through a slide rail assembly. The first screw assembly is arranged on the door-shaped bracket, and the upper end of the lifting plate is fixedly connected to the fixed part of the horizontal telescopic mechanism. The first screw assembly drives the lifting platform, the lifting plate and the horizontal telescopic mechanism to slide up and down synchronously.

3. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 2, characterized in that: The horizontal telescopic mechanism includes a progressively driven first-stage telescopic component and a second-stage telescopic component. The first-stage telescopic component is vertically fixedly connected to the lifting plate. The rotating base mechanism and the winch are arranged on the second-stage telescopic component. The first-stage telescopic component drives the second-stage telescopic component to move horizontally.

4. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 3, characterized in that: The first-stage telescopic assembly includes a bar fixed plate, a first telescopic arm, a second telescopic arm and a driving unit, the first telescopic arm is slidably connected to the bar fixed plate, the second telescopic arm is slidably connected to the first telescopic arm, and the driving unit includes a servo motor, a main gear, multiple sets of gear sets, a bar tooth plate, multiple sets of sprockets and chains, the servo motor is fixedly connected to the bar fixed plate, the main gear and the gear set are rotatably connected to the bar fixed plate through a rotating shaft, the servo motor drives the main gear, the main gear is meshed with the gear set for transmission, the bar tooth plate is fixedly connected to the lower surface of the first telescopic arm, the bar tooth plate is meshed with the gear set for transmission, the sprocket is arranged on the first telescopic arm and the second telescopic arm, the chain cooperates with the sprocket, and the second telescopic arm and the first telescopic arm telescopically slide in the same direction.

5. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 4, characterized in that: The secondary telescopic assembly includes a third telescopic arm and a second screw assembly. The third telescopic arm is slidably connected to the second telescopic arm. The second screw assembly is arranged on the second telescopic arm, and the second screw assembly drives the third telescopic arm to telescope and slide.

6. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 5, characterized in that: The first screw assembly and the second screw assembly each include a drive motor, a screw rod and a nut member. The drive motor drives the screw rod to rotate, and the nut member is threadably engaged with the screw rod.

7. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 6, characterized in that: The rotating base mechanism includes an electric slewing support and a clamping seat. The fixed part of the electric slewing support is fixedly connected to the end of the third telescopic arm. The clamping seat is fixedly connected to the rotating part of the electric slewing support. The clamping seat is used to temporarily place and limit the wall-climbing robot.

8. The conveying device for assisting a wall-climbing robot to enter a tank according to claim 1, characterized in that: The front and rear sides of the transport vehicle are respectively provided with distance measuring sensors, and the front end of the horizontal telescopic mechanism is provided with an obstacle avoidance sensor. The obstacle avoidance sensor is used to sense obstacles, and the distance measuring sensor is used to measure the distance of the object in front.

9. A method for assisting a wall-climbing robot in conveying a tank, characterized in that: The conveying device for assisting a wall-climbing robot to enter a tank according to claim 1 comprises the following steps: Step 1: The wall-climbing robot is placed horizontally on a rotating base mechanism, which is used to temporarily place and limit the wall-climbing robot. At this time, the permanent magnets on both sides of the lower part of the wall-climbing robot are suspended in the air. The transport vehicle is started, and the wall-climbing robot is moved to the tank opening of the storage tank. The transport vehicle is locked to the ground using leveling legs or locking parts. Step 2: The lifting mechanism drives the horizontal telescopic mechanism, the rotating base mechanism, the winch, and the wall-climbing robot to move upward so that the axial direction of the horizontal telescopic mechanism faces the tank opening. Step 3: The rotating base mechanism drives the wall-climbing robot to rotate 90 degrees so that the wall-climbing robot is aligned with the tank opening longitudinally; Step 4: The horizontal telescopic mechanism drives the rotating base mechanism, the winch, and the wall-climbing robot to move horizontally until the wall-climbing robot completely enters the storage tank; Step 5: The rotating base mechanism drives the wall-climbing robot to rotate 90 degrees in the opposite direction again. At this time, the wall-climbing robot is facing the tank opening horizontally. The hook of the winch locks the lifting ring of the wall-climbing robot. The winch slowly pulls the wall-climbing robot so that the tail wheel bracket at the rear of the wall-climbing robot sits on the polyurethane pad. At this time, the wall-climbing robot slowly flips from the horizontal state to the vertical state. Step 6. The lifting mechanism drives the wall-climbing robot upward for the second time until the permanent magnet of the wall-climbing robot is facing the inner wall of the storage tank. The horizontal telescopic mechanism contracts until the permanent magnet of the wall-climbing robot is adsorbed on the inner wall of the storage tank. The hook of the winch is released, thereby completing the complete process of the wall-climbing robot entering the tank mouth.

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