Suspension type sand blasting wall-climbing robot for outer wall of storage tank

Abstract

A storage tank outer wall suspension type sand blasting wall-climbing robot is characterized by comprising a robot body, walking driving mechanisms, walking wheels, a suction cup assembly, a transverse moving mechanism, a moving frame, a sliding rail, an electric telescopic rod, a mounting plate, a spraying gun, a spraying head and a sand conveying pipe positioning assembly, the walking driving mechanisms are arranged at the two ends in the robot body correspondingly, and the walking driving mechanisms are connected with the walking wheels; a suction cup assembly is installed on the bottom face of the machine body, a transverse moving mechanism and a sand conveying pipe positioning assembly are installed on the top face of the machine body, the transverse moving mechanism is connected with a moving frame, the moving frame is slidably connected with a sliding rail installed on the top face of the machine body, and an electric telescopic rod is fixedly installed on the moving frame. According to the automatic spraying machine, the transverse moving mechanism is designed and installed on the machine body, and under the condition that the robot is not moved, the spraying operation range is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of equipment for sandblasting the outer wall of a storage tank, in particular to a sandblasting wall-climbing robot suspended on the outer wall of the storage tank. Background Art

[0002] Sandblasting the outer wall of the storage tank is a common surface treatment method for the tank body. It can spray high-speed sandblasting flow on the surface of the tank body to perform abrasive impact and friction, so that the dirt, rust, oxide film and other surface defects on the surface of the tank body are completely removed, making the surface of the tank body smoother, more uniform and rougher.

[0003] At present, the sandblasting of the outer wall of the storage tank is done manually by hand-held spray guns. With the advancement of current technology, it is also common to use sandblasting robots for sandblasting. However, the sandblasting robots currently used are relatively simple and suitable for flat-bottom operations. They are not suitable for tank wall-climbing sandblasting. There is an urgent need to design a sandblasting wall-climbing robot. Utility Model Content

[0004] In view of the above technical problems, the utility model provides a tank outer wall hanging type sandblasting climbing robot, which is characterized by comprising a body, a walking drive mechanism, a walking wheel, a suction cup assembly, a lateral moving mechanism, a moving frame, a slide rail, an electric telescopic rod, a mounting plate, a spray gun, a nozzle, and a sand conveying pipe positioning assembly.

[0005] Travel drive mechanisms are respectively installed at both ends of the machine body, and the travel drive mechanisms are connected to the travel wheels. A suction cup assembly is installed on the bottom surface of the machine body, and a lateral movement mechanism and a sand conveying pipe positioning assembly are installed on the top surface of the machine body. The lateral movement mechanism is connected to the moving frame, and the moving frame is slidably connected to the slide rail installed on the top surface of the machine body. An electric telescopic rod is fixedly installed on the moving frame, and the telescopic end of the electric telescopic rod is connected to the mounting plate. A spray gun is installed at one end of the mounting plate, and a spray head is connected to the spray gun.

[0006] The travel drive mechanism is composed of a travel drive motor, a worm wheel and a worm. The output end of the travel drive motor is connected to the worm wheel, the worm wheel is meshed with the worm, the worm is installed on the machine body through a bearing, and the two ends of the worm are respectively connected to the travel wheels.

[0007] The suction cup assembly includes a suction cup and a negative pressure wind bin. The suction cup is mounted on the bottom surface of the machine body, and a negative pressure wind bin is mounted on the suction cup.

[0008] The lateral movement mechanism is composed of a mounting frame, a screw rod, a moving driving part, a guide column and a moving block. The mounting frame is fixedly connected to the machine body. The screw rod is installed in the moving groove arranged on the mounting frame through a bearing. The screw rod is threadedly connected to the moving block. Both ends of the moving block are respectively connected by guide columns. The guide column is installed on the mounting frame. One end of the screw rod is connected to the moving driving part installed on the mounting frame.

[0009] The mobile driving part includes a driving motor, a driving wheel, and a driven wheel. The driving motor is installed on the mounting frame through a motor seat. The output end of the driving motor is connected to the driving wheel. The driving wheel is meshed and connected to the driven wheel. The driven wheel is connected to the screw rod.

[0010] The sand conveying pipe positioning assembly is composed of a fixing plate, a support frame, an adjusting screw and a positioning plate. The fixing plate is screw-fixedly mounted on the machine body, the fixing plate is connected to the support frame, the top end of the support frame is threadedly connected to the adjusting screw, the end of the adjusting screw is bearing-connected to the positioning plate, and the positioning plate is located in a through hole set on the support frame.

[0011] Specifically, a controller is provided in the machine body, and the controller is electrically connected to the travel drive motor, the negative pressure wind bin, the drive motor, the electric telescopic rod and the spray gun respectively to control the operation of the electronic components.

[0012] Specifically, the slide rail is configured as an H-shaped structure.

[0013] Specifically, the spray gun is provided with a sand inlet pipe, and during use, the sand inlet pipe is connected to the sand supply equipment through the sand conveying pipe.

[0014] Specifically, antennas are arranged at both ends of the body to receive remote control signals from a remote controller and transmit them to the controller.

[0015] Specifically, the present application is equipped with a distribution box control system, a sand supply source and a human-machine operation interface. The present application is operated by a remote control. The remote control signal is connected to the controller on the machine body through an antenna to control the coordinated work of various parts.

[0016] Beneficial effects of the utility model:

[0017] The utility model is provided with multiple groups of suction cup assemblies at the bottom of the machine body, and the negative pressure wind bin in the suction cup assembly is used to realize the negative pressure adsorption of the machine body on the tank wall, and then the walking drive mechanism drives the walking wheels, so that the machine body can walk on the wall surface by adsorption, and the front and rear walking wheels are driven by the walking drive mechanism to realize the respective control of the front and rear walking wheels, and the robot can walk reliably under the dual drive;

[0018] The utility model designs a sand conveying pipe positioning component. The sand conveying pipe passes through the through hole on the support frame and is connected to the sand inlet pipe on the spray gun. After leaving a surplus amount for the nozzle to move, the staff controls the positioning plate to move down and positions the sand conveying pipe together with the inner wall of the through hole by operating the adjusting screw. When the robot is climbing and sandblasting, the pulling force on the connection between the sand inlet pipe and the sand conveying pipe is reduced, so as to prevent the connection from being disconnected during the sandblasting.

[0019] The utility model designs and installs a lateral movement mechanism on the machine body, so as to control the lateral movement of the spray head during the sandblasting process, thereby expanding the sandblasting operation range when the robot does not move. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a side view schematic diagram of the overall structure of the tank outer wall hanging type sandblasting wall climbing robot of the utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the tank outer wall hanging sandblasting wall climbing robot of the utility model;

[0022] Figure 3 This is a structural schematic diagram of the mobile drive part of the tank outer wall hanging sandblasting climbing robot of the utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the bottom of the body of the overall structure of the tank outer wall hanging sandblasting wall climbing robot of the utility model;

[0024] Figure 5 It is a vertical cross-sectional schematic diagram of the walking drive mechanism in the body of the tank outer wall hanging sandblasting wall climbing robot of the utility model;

[0025] Figure 6 It is a transverse cross-sectional schematic diagram of the walking drive mechanism in the body of the tank outer wall hanging sandblasting wall climbing robot of the utility model;

[0026] As shown in the figure: 1. Machine body, 21. Travel drive motor, 22. Worm gear, 23. Worm, 3. Travel wheel, 41. Suction cup, 42. Negative pressure air bin, 51. Mounting frame, 520. Motor seat, 521. Drive motor, 522. Driving wheel, 523. Driven wheel, 54. Moving block, 55. Guide column, 6. Moving frame, 61. Slide rail, 71. Electric telescopic rod, 72. Mounting plate, 81. Spray gun, 82. Spray head, 83. Sand inlet pipe, 91. Fixed plate, 92. Support frame, 921. Through hole, 93. Adjusting screw, 94. Positioning plate. DETAILED DESCRIPTION

[0027] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0030] Example 1

[0031] like Figure 4 , 5 As shown in FIG. 6 , a travel drive mechanism is installed at both ends of the machine body 1. The travel drive mechanism is composed of a travel drive motor 21, a worm gear 22 and a worm 23. The output end of the travel drive motor 21 is connected to the worm gear 22. The worm gear 22 is meshed with the worm 23. The worm 23 is installed on the machine body 1 through a bearing. The two ends of the worm 23 are connected to the travel wheel 3, as shown in FIG. Figure 4 , the bottom surface of the machine 1 is equipped with multiple sets of suction cups 41, and the suction cups 41 are equipped with negative pressure wind bins 42

[0032] like Figure 1 and 2The top surface of the machine body 1 is fixedly connected to the mounting frame 51, and a screw rod 53 is installed in the moving groove provided on the mounting frame 51 through a bearing. The screw rod 53 is threadedly connected to the moving block 54, and the moving block 54 is connected to the moving frame 6. The two ends of the moving block 54 are respectively connected by guide columns 55, and the guide columns 55 are installed on the mounting frame 51. Figure 3 One end of the screw rod 53 is connected to the driven wheel 523 in the mobile driving part installed on the mounting frame, and the driven wheel 523 is meshed and connected to the driving wheel 522. The driving wheel 522 is connected to the output end of the driving motor 521 installed on the mounting frame 51 through the motor seat 520. Among them, the mobile frame 6 is slidably connected to the slide rail 61 installed on the top surface of the machine body 1. The slide rail 61 is set to an H-shaped structure. An electric telescopic rod 71 is fixedly installed on the mobile frame 6. The telescopic end of the electric telescopic rod 71 is connected to the mounting plate 72. A spray gun 81 is arranged at one end of the mounting plate 72. The lower end of the spray gun 81 is connected to the nozzle 82, and a sand inlet pipe 83 is arranged on the spray gun 81. The sand inlet pipe 83 is connected to the sand supply equipment through a sand conveying pipe.

[0033] like Figure 1 and 2 A fixing plate 91 is installed at the rear end of the machine body by screws, and a support frame 92 is connected to the fixing plate 91. The top of the support frame 92 is threadedly connected to an adjusting screw 93. The end of the adjusting screw 93 is connected to a positioning plate 94 by a bearing. The positioning plate 94 is located in a through hole 921 provided on the support frame 92.

[0034] Specifically, a controller is provided in the machine body 1, and the controller is electrically connected to the travel drive motor 21, the negative pressure air bin 42, the drive motor 521, the electric telescopic rod 71 and the spray gun 81, respectively, to control the operation of the electronic components, and antennas 10 are installed at both ends of the machine body 1 to receive the remote control signal of the remote control and transmit it to the controller. It should also be noted that the present application is equipped with a distribution box control system, a sand supply source and a human-machine operation interface. The present application is operated by a remote control, and the remote control signal is connected to the controller on the machine body 1 through the antenna 10 to control the coordinated work of each part.

[0035] Example 2

[0036] When using the utility model, before operating the present application, the staff connects the sand supply equipment with the sand inlet pipe 83 on the spray gun 81 through the sand delivery pipe, and the sand delivery pipe passes through the through hole 921 at the upper end of the support frame 92 in the delivery pipe positioning assembly. While retaining the length of the pipe required for the lateral movement of the nozzle 82, the staff rotates the adjustment screw 93 to move the positioning plate 94 downward to jointly position with the inner wall of the through hole 921 of the support frame 92 to clamp the delivery pipe. In this way, when the robot is operated to climb and move on the outer wall of the storage tank for sandblasting, the weight of the sand delivery pipe from the part passing through the positioning assembly to the connection of the sand supply equipment is reduced to the pulling force on the connection between the sand inlet pipe and the sand delivery pipe, thereby preventing the connection from being disconnected during sandblasting.

[0037] After the connection work is completed, the application is started and operated by the remote control. The robot is equipped with multiple groups of suction cup assemblies at the bottom of the body 1. The negative pressure wind bin 42 in the suction cup assembly is used to realize the negative pressure adsorption of the body 1 on the outer wall of the storage tank. The walking drive motor 21 in the walking drive mechanism drives the worm 23 to rotate to drive the walking wheel 3, so that the body 1 can be adsorbed on the wall surface and walk. In this application, the front and rear groups of walking wheels 3 are driven by the walking drive mechanism to realize the respective control of the front and rear groups of walking wheels. The robot is reliable when turning and walking under dual drive.

[0038] During sandblasting, the electric telescopic rod 71 starts the control mounting plate 72 to drive the spray gun 81 to move, adjust the distance between the nozzle 82 and the outer wall of the storage tank, and design and install a lateral movement mechanism on the body 1, which is started by the driving motor 521 of the mobile driving part, and the driving wheel 522 drives the driven wheel 523 to rotate, thereby controlling the rotation of the screw rod 53, and the moving block 54 threadedly connected to the screw rod 53 moves axially, and the moving frame 6 connected to the moving block 54 is controlled to move horizontally, that is, the nozzle 82 is moved horizontally for sandblasting, so that the sandblasting operation range of the nozzle 82 is expanded when the robot body 1 is stationary, thereby improving work efficiency.

[0039] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. The various components mentioned in the utility model are common technologies in the existing field. The technicians in this industry should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only to illustrate the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model will have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. The sandblasting climbing robot hanging on the outer wall of the tank is characterized by It includes a machine body, a travel drive mechanism, travel wheels, a suction cup assembly, a lateral movement mechanism, a mobile frame, a slide rail, an electric telescopic rod, a mounting plate, a spray gun, a nozzle, and a sand conveying pipe positioning assembly. Walking drive mechanisms are respectively installed at both ends of the machine body, and the walking drive mechanisms are connected to the walking wheels. A suction cup assembly is installed on the bottom surface of the machine body, and a lateral movement mechanism and a sand conveying pipe positioning assembly are installed on the top surface of the machine body. The lateral movement mechanism is connected to a moving frame, and the moving frame is slidably connected to a slide rail installed on the top surface of the machine body. An electric telescopic rod is fixedly installed on the moving frame, and the telescopic end of the electric telescopic rod is connected to a mounting plate. A spray gun is arranged at one end of the mounting plate, and a spray head is connected to the spray gun.

2. The tank outer wall hanging sandblasting climbing robot according to claim 1 is characterized in that The travel drive mechanism consists of a travel drive motor, a worm wheel and a worm. The output end of the travel drive motor is connected to the worm wheel. The worm wheel is meshed with the worm. The worm is installed on the machine body through a bearing. Both ends of the worm are connected to travel wheels respectively.

3. The tank outer wall hanging sandblasting climbing robot according to claim 1 is characterized in that The suction cup assembly comprises a suction cup and a negative pressure wind bin. The suction cup is mounted on the bottom surface of the machine body, and the negative pressure wind bin is mounted on the suction cup.

4. The tank outer wall hanging sandblasting climbing robot according to claim 1 is characterized in that The lateral moving mechanism consists of a mounting frame, a screw, a moving drive unit, a guide column and a moving block. The mounting frame is fixedly connected to the machine body. The screw is installed in the moving groove arranged on the mounting frame through a bearing. The screw is threadedly connected to the moving block. Both ends of the moving block are respectively connected by guide columns. The guide column is installed on the mounting frame. One end of the screw is connected to the moving drive unit installed on the mounting frame.

5. The tank outer wall hanging sandblasting climbing robot according to claim 4 is characterized in that The mobile driving part includes a driving motor, a driving wheel, and a driven wheel. The driving motor is installed on a mounting frame through a motor seat. The output end of the driving motor is connected to the driving wheel. The driving wheel is meshed and connected to the driven wheel. The driven wheel is connected to the screw rod.

6. The tank outer wall hanging sandblasting climbing robot according to claim 1 is characterized in that The sand conveying pipe positioning assembly consists of a fixing plate, a support frame, an adjusting screw and a positioning plate. The fixing plate is screw-fixedly mounted on the machine body, the fixing plate is connected to the support frame, the top end of the support frame is threadedly connected to the adjusting screw, the end of the adjusting screw is bearing-connected to the positioning plate, and the positioning plate is located in a through hole set on the support frame.

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