Spraying robot for LNG storage tank

Abstract

The utility model relates to an LNG storage tank spraying robot which comprises two spraying mechanisms arranged in an LNG storage tank, and each spraying mechanism comprises a moving platform, a spraying platform, a carrying vehicle and two side edge connecting mechanisms. The side edge connecting mechanism comprises a first rope, a rope sliding device and a tension balance vehicle, one end of the first rope is connected with a top wall guardrail of the LNG storage tank, the other end of the first rope penetrates through the rope sliding device and is connected with the tension balance vehicle, and the carrying vehicle and the tension balance vehicle are located at the tank bottom; a transverse waistband is arranged between the two rope sliding devices, and the spraying platform is hung on the transverse waistband; the movable platform is arranged on the top wall guardrail; a second rope is connected between the spraying platform and the moving platform; a spraying gun is arranged on the spraying platform, a spraying box is arranged on the carrying vehicle, and the spraying gun and the spraying box are connected through a spraying pipe; and the mobile platform is connected with a vertical rod on a dome overbridge of the LNG storage tank through a third rope. According to the LNG storage tank spraying robot, manual operation is not needed, and spraying is even.

Description

Technical Field

[0001] The utility model relates to the field of LNG storage tank spraying, and more specifically to an LNG storage tank spraying robot. Background Art

[0002] LNG (liquefied natural gas) storage tanks are specialized equipment used to store liquefied natural gas. The interior of the tank is typically coated with a layer of paint. This paint isolates the surrounding air, moisture, oil, sunlight, and other elements, protecting the steel from various aggressors and preventing metal corrosion, thereby extending the tank's service life.

[0003] In the prior art, a manual spraying operation is usually adopted, that is, a high-altitude manned hanging basket is hoisted in the storage tank, and then workers complete the spraying in the high-altitude manned hanging basket.

[0004] However, manual spraying cannot guarantee uniform spraying, and uneven spraying will cause the coating to fail prematurely. In addition, LNG storage tanks are usually located on the seashore and are accompanied by strong winds all year round, making high-altitude spraying operations more risky. Utility Model Content

[0005] The purpose of the utility model is to provide an LNG storage tank spraying robot to solve the problems of high risk and uneven spraying in existing manual spraying.

[0006] Based on the above purpose, the utility model provides an LNG tank spraying robot, including two spraying mechanisms arranged in the LNG tank, the two spraying mechanisms are symmetrical with respect to the center of the LNG tank, each spraying mechanism includes a mobile platform, a spraying platform, a carrier and two side connection mechanisms respectively located on both sides of the spraying platform, the carrier is located at the bottom of the tank and can move at the bottom of the tank; each side connection mechanism includes a first rope, a rope sliding device and a tension balancing vehicle, one end of the first rope is connected to the top wall guardrail of the LNG tank, and the other end passes through the rope sliding device and is connected to the tension balancing vehicle, the tension balancing vehicle is located at the bottom of the LNG tank and can move at the bottom of the tank; the two ropes A transverse belt is fixed between the cable sliding devices, the spraying platform is suspended on the transverse belt and can move along the transverse belt, the spraying platform is in contact with the inner wall of the LNG storage tank and can move on the inner wall; the mobile platform is arranged on the top wall guardrail and can move on the top wall guardrail; a second rope is connected between the spraying platform and the mobile platform to realize the lifting and lowering of the spraying platform by the second rope; a spray gun is provided on the spraying platform, and a spray box is provided on the carrier vehicle, and the spray gun and the spray box are connected by a spray pipe to transport the paint in the spray box to the spray gun; the mobile platform is connected to the vertical pole on the dome overpass of the LNG storage tank by a third rope.

[0007] Furthermore, the two tension balancing vehicles are arranged to move toward or in opposite directions so as to balance the tension of the transverse belt when it is raised or lowered along with the spraying platform.

[0008] Furthermore, the spraying platform includes a spraying bracket, the spray gun is fixed on the spraying bracket, a winch and a first pulley are also fixed on the spraying bracket, one end of the second rope passes through the first pulley and is wound around the winch, and the other end is connected to the mobile platform.

[0009] Furthermore, the spraying bracket is provided with a plurality of second pulleys, and the second pulleys are connected to the transverse belt.

[0010] Furthermore, the spraying bracket is provided with a plurality of rollers, and the plurality of rollers roll on the inner wall of the LNG storage tank.

[0011] Furthermore, the mobile platform includes a base and a mobile frame, the base is fixedly connected to the mobile frame, and the mobile frame is provided with at least one clamp, the clamp is clamped on the top wall guardrail and is slidably connected to the top wall guardrail.

[0012] Furthermore, the movable frame is provided with a third pulley, a fourth pulley and a tripod, the base is provided with a fixed ring, the other end of the second rope passes through the third pulley and the fourth pulley in sequence and is fixed on the fixed ring; one end of the third rope is fixed on the tripod, and the other end is connected to the vertical pole.

[0013] Furthermore, two wall tanks are hung on the transverse belt, and the two wall tanks are respectively located on both sides of the spraying platform and are respectively connected to the spraying platform through two sixth ropes; the wall tanks include a wall tank bracket, and the wall tank bracket is provided with multiple fifth pulleys and multiple ball bearings, and the multiple fifth pulleys are all connected to the transverse belt, and the multiple ball bearings roll on the inner wall of the LNG storage tank.

[0014] Furthermore, the rope sliding device includes a sliding bracket, which is provided with at least one sixth pulley, and the other end of the first rope passes through the sixth pulley and is connected to the tension balance vehicle; the sliding bracket is provided with a tightener, which is connected to the transverse waist belt and is used to adjust the tightness of the transverse waist belt.

[0015] Furthermore, each side connection mechanism also includes a rope fixing frame fixed on the top wall guardrail, the rope fixing frame has a suspended end, and a seventh pulley is provided on the suspended end. One end of the first rope is fixed on the side where the rope fixing frame and the top wall guardrail are fixed, and the other end passes through the seventh pulley and is connected to the rope sliding device and the tension balancing vehicle in sequence.

[0016] Furthermore, the transport vehicle is provided with a fence having an openable and closeable door, and the spray box is located inside the fence; a radar is respectively provided at the front and rear of the transport vehicle.

[0017] Furthermore, a bearing is provided on the top of the vertical pole, and the bearing can rotate relative to the vertical pole, and one end of the two third ropes is respectively fixed on both sides of the bearing.

[0018] Furthermore, it also includes a control device, which is connected to the spraying platform, the carrier vehicle and the tension balance vehicle.

[0019] The LNG tank spraying robot of the present invention has a spraying platform that can be raised and lowered in the LNG tank and moved on the inner wall of the LNG tank. During the movement, the spray gun can spray paint onto the wall, thereby automatically completing the spraying work without manual operation and ensuring uniform spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a side perspective view of an LNG tank spraying robot according to an embodiment of the present invention;

[0021] Figure 2 1 is a top view of an LNG tank spraying robot according to an embodiment of the present invention;

[0022] Figure 3 This is an enlarged schematic diagram of the bottom of one of the spraying mechanisms of the LNG tank spraying robot according to an embodiment of the present utility model;

[0023] Figure 4 is a perspective view of a spraying platform according to an embodiment of the present utility model;

[0024] Figure 5 A side view of a spraying platform according to an embodiment of the present invention;

[0025] Figure 6 An oblique perspective view of a mobile platform on a guardrail according to an embodiment of the present utility model;

[0026] Figure 7 is a perspective view of a mobile platform according to an embodiment of the present utility model;

[0027] Figure 8 This is a structural schematic diagram of a wall tank according to an embodiment of the present invention from one perspective;

[0028] Figure 9 This is a structural schematic diagram of a wall tank according to an embodiment of the present invention from another perspective;

[0029] Figure 10Schematic diagram of the structure of a rope sliding device according to an embodiment of the present utility model;

[0030] Figure 11 Schematic diagram of the structure of a tightener according to an embodiment of the present utility model;

[0031] Figure 12 This is a partial enlarged view of the top wall guardrail of the LNG storage tank according to an embodiment of the present utility model;

[0032] Figure 13 This is a schematic structural diagram of a rope fixing frame according to an embodiment of the present utility model;

[0033] Figure 14 This is a schematic structural diagram of a carrier vehicle according to an embodiment of the present utility model from one perspective;

[0034] Figure 15 This is a schematic structural diagram of a carrier vehicle according to an embodiment of the present invention from another perspective;

[0035] Figure 16 Schematic diagram of the top structure of the upright pole according to an embodiment of the present utility model. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings and described in detail.

[0037] like Figure 1 、 Figure 2 and Figure 3As shown, an embodiment of the present invention provides an LNG tank spraying robot, comprising two spraying mechanisms 200 disposed in an LNG tank 100 , and the two spraying mechanisms 200 are symmetrical relative to the center of the LNG tank 100 . Each spraying mechanism 200 includes a mobile platform 210, a spraying platform 220, a carrier 230 and two side connection mechanisms respectively located on both sides of the spraying platform 220. The carrier 230 is placed at the bottom of the LNG storage tank 100 and can move arbitrarily at the bottom of the tank; each side connection mechanism includes a first rope 240, a rope sliding device 250 and a tension balance vehicle 260. One end of the first rope 240 is connected to the top wall guardrail 110 of the LNG storage tank 100, and the other end passes through the rope sliding device 250 and is connected to the tension balance vehicle 260. The tension balance vehicle 260 is located at the bottom of the LNG storage tank 100 and can move arbitrarily at the bottom of the tank; a transverse belt 270 is fixed between the two rope sliding devices 250 of the two side connection mechanisms, and the spraying platform 220 is suspended on the transverse belt 270 and can move along the transverse belt 270. The spraying platform 220 and The mobile platform 210 contacts the inner wall of the LNG storage tank 100 and can move circumferentially on the inner wall of the LNG storage tank 100; the mobile platform 210 can move along the top wall guardrail 110 of the LNG storage tank 100 (i.e., move circumferentially), and a second rope 280 is connected between the spraying platform 220 and the mobile platform 210, and the spraying platform 220 can be raised and lowered in the LNG storage tank 100 by shortening and extending the second rope 280; a spray gun is provided on the spraying platform 220, and a spray box is provided on the carrier 230 for storing paint. The spray gun and the spray box are connected by a spray pipe 221 to transport the paint in the spray box to the spray gun through the spray pipe 221 and sprayed out by the spray gun; the mobile platform 210 is connected to the vertical pole 121 on the dome skywalk 120 of the LNG storage tank 100 by a third rope 290 to balance the force on the two spraying mechanisms 200 through two third ropes 290.During spraying, the spraying platform 220 is lifted to the highest point by the second rope 280, and the transverse belt 270 and the two-rope sliding device 250 are also lifted to the highest point together. Then, the spraying platform 220 moves on the inner wall of the LNG storage tank 100, so that the spraying platform 220 moves to the leftmost end (or rightmost end) on the transverse belt 270. Then, the spraying platform 220 moves on the inner wall of the LNG storage tank 100, so that it moves from the leftmost end to the rightmost end (or from the rightmost end to the leftmost end) of the transverse belt 270. While moving, the spray gun starts working and sprays paint on the inner wall of the LNG storage tank 100. After moving to the rightmost end, the spray gun stops working, and the spraying of the top is completed. Then the spraying platform 220 is lowered to a preset height by the second rope 280, and then the spraying platform 220 moves from the rightmost end to the leftmost end, and the spray gun starts working at the same time to complete the spraying at this height; then the spraying platform 220 is lowered to a preset height again, and then the spraying platform 220 moves from the leftmost end to the rightmost end again to complete the spraying work at this height; and so on, the spraying platform 220 can gradually descend to the bottom end, thereby completing the spraying work of a certain arc segment from top to bottom; when the spraying platform 220 moves from left to right and from right to left, the carrier 230 is set to move synchronously with the spraying platform 220, and the mobile platform 210 will also move on the top wall guardrail 110 under the pull of the second rope 280.

[0038] When the spraying platform 220 rises, the two tension balancing vehicles 260 are configured to move outward at the same time (i.e., away from the inner wall of the LNG storage tank 100) to tighten the two first ropes 240, thereby increasing the horizontal tension of the transverse belt 270 when the spraying platform 220 rises; when the spraying platform 220 descends, the two tension balancing vehicles 260 are configured to move inward at the same time (i.e., toward the inner wall of the LNG storage tank 100) to tighten the two first ropes 240, thereby reducing the horizontal tension of the transverse belt 270 when the spraying platform 220 descends. In this way, the dynamic balance of the transverse belt 270 when it rises and falls with the spraying platform 220 can be ensured by the opposite or opposite movement of the two tension balancing vehicles 260.

[0039] like Figure 3 As shown, in some embodiments, the transverse belt 270 may include a fourth rope 271 and a fifth rope 272 that are spaced apart. The fourth rope 271 and the fifth rope 274 are both connected to the spraying platform 220 to jointly support the spraying platform 220 and make the spraying platform 220 more stable.

[0040] like Figure 4 and Figure 5As shown, the spraying platform 220 includes a spraying bracket 222, a spray gun 223 fixed to the spraying bracket 222, and one end of a spraying pipe 221 connected to the spray gun 223. A winch 224 and a first pulley 225 are also fixed to the spraying bracket 222. One end of a second rope 280 passes through the first pulley 225 and is wound around the winch 224, while the other end is connected to the mobile platform 210. In this way, the winch 224 can be used to extend and retract the second rope 280, thereby achieving the raising and lowering of the spraying platform 220. The spray gun 223 can be fixed to the top of the spraying bracket 222, so that when spraying from top to bottom, the spraying bracket 222 always moves below the sprayed surface to prevent it from damaging the newly sprayed coating.

[0041] In some embodiments, the spraying bracket 222 is further provided with a plurality of second pulleys 226 for connecting to the transverse belt 270, so that the spraying bracket 222 is suspended from the transverse belt 270 and can move on the transverse belt 270 (achieved by the cooperation of the pulleys and ropes). For example, there may be four second pulleys 226, the fourth rope 271 of the transverse belt 270 is connected to two of the second pulleys 226, and the fifth rope 272 is connected to the other two second pulleys 226.

[0042] The spraying support 222 may also be provided with a plurality of rollers 227 (e.g., Mecanum wheels) that can roll on the inner wall of the LNG storage tank 100 to allow the spraying support 222 to move on the inner wall. The spraying support 222 may also include a drive device 228 that is connected to the rollers 227 and is used to drive the rollers 227 to roll, thereby driving the spraying platform 220 to move on the inner wall.

[0043] like Figure 6 and Figure 7 As shown, in some embodiments, the mobile platform 210 may include a base 211 and a mobile frame 212. The base 211 is fixedly connected to the mobile frame 212. The mobile frame 212 is provided with at least one clamp 213. The groove of the clamp 213 is provided with a roller. The clamp 213 is used to clamp the guardrail 110 and roll on the guardrail 110 via the roller, thereby allowing the mobile platform 210 to move on the guardrail 110. For example, two clamps 213 are provided, each connected to two guardrail walls, so that the mobile platform 210 can slide on the guardrail 110.

[0044] The movable frame 212 may also be provided with a third pulley 214 and a fourth pulley 215, and the base 211 may be provided with a fixed ring 216. The other end of the second rope 280 passes through the third pulley 214 and the fourth pulley 215 in sequence and is fixed on the fixed ring 216. In this way, when the winch 224 reels in or releases the rope, the spraying platform 220 can be raised or lowered; when the spraying platform 220 moves on the inner wall of the LNG storage tank 100, the second rope 280 can carry the movable platform 210 to move on the guardrail 110.

[0045] A tripod 217 may also be provided on the movable frame 212 . One end of the third rope 290 is fixed to the tripod 217 , and the other end is connected to the vertical pole 121 .

[0046] like Figure 3 As shown, two wall tanks 273 can also be hung on the transverse belt 270. The two wall tanks 273 are respectively located on both sides of the spraying platform 220 and are respectively connected to the spraying platform 220 through two sixth ropes 274. The wall tanks 273 can slide along the transverse belt 270 and can move on the inner wall of the LNG storage tank 100 to prevent the transverse belt 270 from contacting the inner wall of the LNG storage tank 100 to avoid scratches.

[0047] like Figure 8 and Figure 9 As shown, in some embodiments, the wall tank 273 may include a wall tank bracket 2731, and the wall tank bracket 2731 is provided with a plurality of fifth pulleys 2732 for connecting to the transverse belt 270, so that the wall tank bracket 2731 can be suspended from the transverse belt 270 and can move on the transverse belt 270. For example, there may be four fifth pulleys 2732, two of which are provided at the top of the wall tank bracket 2731 for connecting to the fourth rope 271 of the transverse belt 270, and the other two are provided at the bottom of the wall tank bracket 2731 for connecting to the fifth rope 272 of the transverse belt 270. The suspension and sliding cooperation are achieved through the cooperation between the pulleys and the ropes.

[0048] The wall tank bracket 2731 is also provided with a plurality of ball bearings 2733, which roll on the inner wall of the LNG storage tank 100, thereby enabling the wall tank bracket 2731 to move on the inner wall of the LNG storage tank 100. For example, four ball bearings 2733 may be provided, one at each of the four corners of the side of the wall tank bracket 2731. By having the four ball bearings 2733 roll on the inner wall, the movement of the wall tank bracket 2731 can be made more stable.

[0049] like Figure 10As shown, the rope sliding device 250 may include a sliding bracket 251, and at least one sixth pulley 252 is provided on the sliding bracket 251. One end of the first rope 240 is connected to the guardrail 110, and the other end passes through the sixth pulley 252 and is fixedly connected to the tension balance vehicle 260, so that the first rope 240 is connected to the rope sliding device 250, and the rope sliding device 250 can slide along the first rope 240.

[0050] The sliding bracket 251 can be connected to the first belt rope 271 and the second belt rope 272 through two tighteners 253 respectively, so as to tighten the transverse belt 270. Figure 11 As shown, the tightener 253 can be a basket bolt, which is extended and retracted by a screw to adjust the tightness of the rope.

[0051] The first belt rope 271 and the second belt rope 272 can each be composed of two ropes, which are arranged in parallel and fixed together at their ends by a rope clamp. The ends of the tightener 253 are respectively fixedly connected to the sliding bracket 251 and the rope clamp. For example, the ends of the tightener 253 can be fixed to the sliding bracket 251 and the rope clamp by means of a hook and a fixing ring.

[0052] like Figure 12 As shown, each side connection mechanism may further include a rope fixing frame 111 fixed on the guardrail 110, and the mobile platform 210 is located between the two rope fixing frames 111; Figure 13 As shown, the rope fixing frame 111 is triangular in shape, with its two ends fixedly connected to the guardrail 110, and the third end is suspended in the air. The suspended end is provided with a seventh pulley 112. One end of the first rope 240 is fixed to the fixing ring 113 fixedly connected to the rope fixing frame 111 and the guardrail 110, and the other end passes through the seventh pulley 112 and is then connected to the rope sliding device 250 and the tension balance vehicle 260 in sequence. This can prevent the first rope 240 from contacting the inner wall of the LNG storage tank 100 and prevent scratches.

[0053] like Figure 14 and Figure 15As shown, the transport vehicle 230 is equipped with a fence 231 having a closable door 232 that can be opened or locked by removing or inserting a latch 233. A spray box 234 is located within the fence 231 to prevent the spray box 234 from tipping over or falling during movement. The other end of the spray pipe 221 is connected to the spray box 234. The transport vehicle 230 is equipped with multiple rollers and a drive mechanism that drives the rollers to roll along the tank bottom, thereby driving the transport vehicle 230. A radar 235 is located at the front and rear of the transport vehicle 230 to detect the distance between the front and rear of the vehicle and the inner wall of the LNG storage tank 100. The radar 235 is used to adjust the direction of the rollers to prevent collisions with the inner wall, causing the vehicle to move in a circular motion along the wall. The drive speed of the transport vehicle 230 can be the same as that of the spray platform 220, achieving synchronized movement of the two.

[0054] like Figure 16 As shown, a bearing 122 may be provided at the top of the vertical rod 121, and the bearing 122 may rotate relative to the vertical rod 121. One end of the two third ropes 290 is fixed on both sides of the bearing 122. In this way, when the spraying platform 230 moves left and right along the transverse belt 270, the bearing 122 can follow the movement, so that the projections of the two third ropes 290 are always in the same straight line (as shown in FIG. Figure 2 shown).

[0055] In some embodiments, the LNG tank spraying robot may also include a control device, which is connected to the spraying platform 220, the carrier 230, and the pulling balance vehicle 260 to control the movement of the spraying platform 220, the carrier 230 and the pulling balance vehicle 260, and control the operation of the winch 224 to control the lifting and lowering of the spraying platform 220, and at the same time control the operation of the spray gun 223 to achieve spraying, thereby realizing automatic spraying operations.

[0056] The LNG tank spraying robot of the embodiment of the present invention has a spraying platform 220 that can be raised and lowered in the LNG tank 100 and moved on the inner wall of the LNG tank 100. During the movement, the spray gun 223 can spray paint onto the wall, thereby automatically completing the spraying work without manual operation, and the spraying is uniform.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Various modifications are possible to the above embodiments of the present invention. In other words, any simple, equivalent changes and modifications made in accordance with the claims and description of the present invention fall within the scope of protection of the present invention. Anything not fully described in this invention represents conventional technology.

Claims

1. An LNG tank spraying robot, characterized in that: It includes two spraying mechanisms arranged in the LNG storage tank, and the two spraying mechanisms are symmetrical with respect to the center of the LNG storage tank. Each spraying mechanism includes a mobile platform, a spraying platform, a carrier and two side connection mechanisms respectively located on both sides of the spraying platform, and the carrier is located at the bottom of the tank and can move at the bottom of the tank; each side connection mechanism includes a first rope, a rope sliding device and a tension balance vehicle, one end of the first rope is connected to the top wall guardrail of the LNG storage tank, and the other end passes through the rope sliding device and is connected to the tension balance vehicle, and the tension balance vehicle is located at the bottom of the tank of the LNG storage tank and can move at the bottom of the tank; a transverse belt is fixed between the two rope sliding devices The spraying platform is suspended on the transverse belt and can move along the transverse belt, the spraying platform is in contact with the inner wall of the LNG storage tank and can move on the inner wall; the mobile platform is arranged on the top wall guardrail and can move on the top wall guardrail; a second rope is connected between the spraying platform and the mobile platform to realize the lifting and lowering of the spraying platform by the second rope; a spray gun is provided on the spraying platform, and a spray box is provided on the carrier vehicle, and the spray gun and the spray box are connected by a spray pipe to transport the paint in the spray box to the spray gun; the mobile platform is connected to the vertical pole on the dome overpass of the LNG storage tank by a third rope.

2. The LNG tank spraying robot according to claim 1, characterized in that: The two tension balancing vehicles are arranged to move in opposite directions or in opposite directions so as to balance the tension of the transverse belt when the belt is lifted or lowered along with the spraying platform.

3. The LNG tank spraying robot according to claim 1, characterized in that: The spraying platform includes a spraying bracket, the spray gun is fixed on the spraying bracket, a winch and a first pulley are also fixed on the spraying bracket, one end of the second rope passes through the first pulley and is wound around the winch, and the other end is connected to the mobile platform.

4. The LNG tank spraying robot according to claim 3, characterized in that: The spraying bracket is also provided with a plurality of second pulleys, and the second pulleys are connected to the transverse belt.

5. The LNG tank spraying robot according to claim 3, characterized in that: The spraying bracket is further provided with a plurality of rollers, which roll on the inner wall of the LNG storage tank.

6. The LNG tank spraying robot according to claim 3, characterized in that: The mobile platform includes a base and a mobile frame, the base is fixedly connected to the mobile frame, and the mobile frame is provided with at least one clamp, the clamp is clamped on the top wall guardrail and is slidably connected to the top wall guardrail.

7. The LNG tank spraying robot according to claim 6, characterized in that: The movable frame is also provided with a third pulley, a fourth pulley and a tripod, and the base is provided with a fixed ring. The other end of the second rope passes through the third pulley and the fourth pulley in sequence and is fixed on the fixed ring; one end of the third rope is fixed on the tripod, and the other end is connected to the vertical pole.

8. The LNG tank spraying robot according to claim 1, characterized in that: Two wall tanks are hung on the transverse belt, and the two wall tanks are respectively located on both sides of the spraying platform and are respectively connected to the spraying platform through two sixth ropes; the wall tank includes a wall tank bracket, and the wall tank bracket is provided with multiple fifth pulleys and multiple ball bearings, and the multiple fifth pulleys are all connected to the transverse belt, and the multiple ball bearings roll on the inner wall of the LNG storage tank.

9. The LNG tank spraying robot according to claim 1, characterized in that: The rope sliding device includes a sliding bracket, which is provided with at least one sixth pulley. The other end of the first rope passes through the sixth pulley and is connected to the tension balance vehicle; the sliding bracket is provided with a tightener, which is connected to the transverse waist belt and is used to adjust the tightness of the transverse waist belt.

10. The LNG tank spraying robot according to claim 1, characterized in that: Each side connection mechanism also includes a rope fixing frame fixed on the top wall guardrail, the rope fixing frame has a suspended end, and a seventh pulley is provided on the suspended end. One end of the first rope is fixed on the side where the rope fixing frame and the top wall guardrail are fixed, and the other end passes through the seventh pulley and is connected to the rope sliding device and the tension balancing vehicle in sequence.

11. The LNG tank spraying robot according to claim 1, characterized in that: The carrier vehicle is provided with a fence having an openable door, and the spray box is located inside the fence; a radar is respectively provided at the front and the rear of the carrier vehicle.

12. The LNG tank spraying robot according to claim 1, characterized in that: A bearing is provided on the top of the vertical pole, and the bearing can rotate relative to the vertical pole. One ends of two third ropes are respectively fixed on both sides of the bearing.

13. The LNG tank spraying robot according to claim 1, characterized in that: It also includes a control device, which is connected to the spraying platform, the carrier vehicle and the tension balance vehicle.

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