Tank climbing robot for measuring cement storage amount in cement tank

Abstract

The utility model discloses a tank climbing robot for measuring the storage amount of cement in a cement tank, which comprises a chassis, a shell mounted on the chassis, a movable cavity arranged on one side of the shell, a measuring mechanism arranged in the movable cavity, and an adsorption mechanism fixed at the bottom of the chassis and capable of magnetic adsorption, a small electric impact hammer and a vibration sensor are arranged in the measuring mechanism, driving wheels are rotationally connected to the chassis, and a control mechanism is installed at the bottom of the chassis. The robot can replace manual work to detect the cement storage amount in the cement tank in a severe environment, and the safety and precision of detection are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a tank-climbing robot for measuring the cement storage amount in a cement tank. Background Art

[0002] Tank-climbing robots are automated devices specifically designed to crawl inside storage tanks or containers for inspection and monitoring. These robots are widely used in industrial applications, particularly in locations where direct human access is impossible or the environment is hazardous. They can be equipped with various sensors, such as laser scanners, ultrasonic probes, and cameras, to inspect and monitor the integrity and corrosion of the tank walls, as well as the amount of stored material. For example, when measuring the volume of a cement tank, a tank-climbing robot might be equipped with a rangefinder or similar device to scan the interior. By determining the surface height of the cement inside the tank and combining it with the tank's geometric parameters, the volume of the cement can be calculated, thereby estimating the storage capacity. These robots can provide real-time data, enhance safe operations, reduce human exposure to hazardous environments, and improve efficiency and accuracy.

[0003] However, the existing method for measuring the cement storage amount in cement tanks is huge in size and located at a high position, and the cement storage amount in the tank is not easy to detect. If manual inspection is performed inside the tank, it is very dangerous. Summary of the Invention

[0004] The purpose of the utility model is to provide a tank climbing robot for measuring the cement storage amount in a cement tank, so as to solve the problem of difficulty in detecting the cement storage amount in a cement tank proposed in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a tank-climbing robot for measuring the cement storage amount in a cement tank, including a chassis, a shell installed on the chassis, an active cavity arranged on one side of the shell, a measuring mechanism arranged in the active cavity, and an adsorption mechanism fixed to the bottom of the chassis that can be magnetically adsorbed, a small electric impact hammer and a vibration sensor are arranged in the measuring mechanism, a drive wheel is rotatably connected to the chassis, and a control mechanism is installed at the bottom of the chassis.

[0006] Preferably, the measuring mechanism includes a rotating arm whose middle part is rotatably installed in the shell, a telescopic rod fixed in the shell, a fixed rod slidably installed in the movable cavity and a control system fixed in the shell, and both ends of the rotating arm are provided with strip holes, the output end of the telescopic rod is connected to the strip hole at one end of the rotating arm through a pin, and one end of the fixed rod is connected to the strip hole at the other end of the rotating arm through a pin, and the small electric impact hammer and vibration sensor are both installed on the fixed rod.

[0007] Preferably, the fixing rod is L-shaped, and the movable end of the fixing rod is provided with a telescopic head, and the vibration sensor is connected to the telescopic head of the fixing rod; the tail end of the small electric impact hammer is installed with a connecting block, and the connecting block is fixedly sleeved on the fixing rod.

[0008] Preferably, a battery compartment is provided in the chassis, a detachable battery is installed in the battery compartment, and a compartment cover is provided on the bottom opening of the battery compartment.

[0009] Preferably, the adsorption mechanism includes a connector fixed to the bottom of the chassis, the connectors are arranged in an array, a mounting groove is provided on the bottom plate of the connector, and a magnet is installed in the mounting groove.

[0010] Preferably, the control mechanism includes a microcontroller, a suction detector, a distance sensor and a communication component mounted on the chassis.

[0011] 1. The utility model provides a tank-climbing robot for measuring the amount of cement stored in a cement tank. Through the setting of a measuring mechanism, the robot can replace manual labor to detect the amount of cement stored in a cement tank in harsh environments. A small electric impact hammer hits the outer wall of the tank body, and the generated vibration signal is transmitted to the tank through the tank wall. The cement in the tank will have a damping effect on this vibration, causing the vibration signal in the tank to attenuate. Then, through the control system and the vibration sensor, the degree of attenuation can be detected, and the capacity of the cement can be inferred. The capacity of the cement tank can be accurately detected, which effectively solves the problem that manual labor cannot perform efficient and accurate detection. Compared with the detection in the tank, the detection outside the tank also has the characteristics of real-time and online, and can monitor the status in the tank in real time, issue warnings in time, and avoid the occurrence of safety accidents. It has a high degree of intelligence, effectively reduces labor costs, improves work efficiency, and has high stability and reliability, thereby reducing production costs.

[0012] 2. Through the setting of the adsorption mechanism, it mainly plays the role of adsorption and stabilization. It can be adsorbed on the surface of the outer wall of the cement tank to ensure that the robot can move and operate stably on the outer wall to avoid shaking or falling. Through the setting of the control mechanism, the movement and status of the robot can be effectively detected and remotely controlled to improve the intelligent effect of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the measuring mechanism structure of the utility model;

[0016] Figure 3This is an exploded view of the overall structure of the utility model;

[0017] Figure 4 This is a schematic diagram of the adsorption mechanism structure of the utility model;

[0018] Figure 5 This is a schematic diagram of the control mechanism structure of the utility model.

[0019] In the figure: 1. chassis; 2. shell; 3. measuring mechanism; 301. small electric impact hammer; 302. connecting block; 303. fixing rod; 304. rotating arm; 305. telescopic rod; 306. motor; 307. vibration sensor; 308. control system; 4. movable cavity; 5. driving wheel; 6. adsorption mechanism; 601. connector; 602. mounting slot; 603. magnet; 7. control mechanism; 701. microcontroller; 702. suction detector; 703. distance sensor; 704. communication component; 8. elastic coupling; 9. battery compartment; 10. removable battery; 11. compartment cover. DETAILED DESCRIPTION

[0020] like Figure 1-5 As shown, the utility model provides a tank-climbing robot for measuring the amount of cement stored in a cement tank, comprising a chassis 1, a shell 2 mounted on the chassis 1, an active cavity 4 arranged on one side of the shell 2, a measuring mechanism 3 arranged in the active cavity 4, and an adsorption mechanism 6 fixed to the bottom of the chassis 1 and capable of magnetic adsorption, a small electric impact hammer 301 and a vibration sensor 307 are arranged in the measuring mechanism 3, a driving wheel 5 is rotatably connected to the chassis 1, and a control mechanism 7 is installed at the bottom of the chassis 1.

[0021] Four drive wheels 5 are mounted on the chassis 1, with two opposing drive wheels 5 connected by an elastic coupling 8. A motor is installed within the chassis 1, driving one of the drive wheels 5 to rotate, thereby moving the tank-climbing robot. The tank-climbing robot is magnetically attached to the cement tank via an adsorption mechanism 6, enabling it to move within the tank. A small electric hammer 301 strikes the cement tank, generating a vibration signal. This vibration signal is transmitted through the tank wall into the tank. The cement inside the tank dampens the vibration, attenuating the vibration signal. The degree of attenuation is detected by a vibration sensor 307 and a control system 308, which can then be used to infer the cement capacity.

[0022] like Figure 1 and Figure 2The measuring mechanism 3 includes a rotating arm 304 whose center is rotatably mounted within the housing 2, a telescopic rod 305 fixed within the housing 2, a fixed rod 303 slidably mounted within the movable chamber 4, and a control system 308 fixed within the housing 2. Both ends of the rotating arm 304 are provided with strip holes. The output end of the telescopic rod 305 is connected to the strip hole at one end of the rotating arm 304 via a pin, and one end of the fixed rod 303 is connected to the strip hole at the other end of the rotating arm 304 via a pin. The small electric impact hammer 301 and the vibration sensor 307 are both mounted on the fixed rod 303.

[0023] Housing 1 houses a motor 306, which drives telescopic rod 305. As it extends and retracts, it pushes or pulls rotating arm 304, which in turn pulls or pushes fixed rod 303 to slide horizontally, thereby driving the movement of small electric hammer 301 and vibration sensor 307. During use, telescopic rod 305 is retracted, causing rotating arm 304 to rotate clockwise. This pushes fixed rod 303 toward the outside of active chamber 4, enabling the cement storage level within the cement tank to be detected.

[0024] like Figure 2 As shown. The fixed rod 303 is L-shaped, and the movable end of the fixed rod 303 is equipped with a telescopic head. The vibration sensor 307 is connected to the telescopic head of the fixed rod 303. The tail end of the small electric impact hammer 301 is mounted with a connecting block 302, which is fixedly mounted on the fixed rod 303. After the fixed rod 303 is extended, the small electric impact hammer 301 is extended to strike the cement tank wall. Due to the gap between the vibration sensor 307 and the cement tank wall, the telescopic head at the movable end of the telescopic rod 305 is extended, allowing the vibration sensor 307 to contact the cement tank wall and detect the vibration signal.

[0025] like Figure 3 As shown, the chassis 1 includes a battery compartment 9, which contains a removable battery 10. A compartment cover 11 is installed at the bottom opening of the battery compartment 9. The compartment cover 11 is opened to install the removable battery 10 in the battery compartment 9. This provides power to the control mechanism 7 of the tank-climbing robot, ensuring its normal operation. When the battery power is low, the removable battery 10 in the battery compartment 9 can be promptly replaced.

[0026] like Figure 4 The adsorption mechanism 6 includes a connector 601 fixed to the bottom of the chassis 1 , the connectors 601 are arranged in an array, a mounting groove 602 is provided on the bottom plate of the connector 601 , and a magnet 603 is installed in the mounting groove 602 .

[0027] The magnet 603 is movably installed in the installation slot 602 of the connector 601. The connector 601 is directly connected to the chassis 1. The magnet 603 has suction force on the metal tank wall of the cement tank, which can help the tank climbing robot move freely on the outer wall of the tank.

[0028] like Figure 5 The control mechanism 7 includes a microcontroller 701 , a suction detector 702 , a distance sensor 703 and a communication component 704 mounted on the chassis 1 .

[0029] The microcontroller 701, the suction detector 702, the distance sensor 703, the communication component 704 and the motor 306 are remotely connected to the remote control unit; the status of the tank climbing robot can be read through the remote control unit, and the movement of the tank climbing robot can be controlled through the microcontroller 701. The setting of the suction detector 702 can detect the adsorption status of the tank climbing robot on the tank wall in real time to avoid the robot falling due to insufficient suction.

[0030] When it is necessary to detect the amount of cement stored in the cement tank, first put the tank climbing robot into the bottom of the outer wall of the cement tank, and attach the chassis 1 to the outer wall of the tank. Since the bottom of the chassis 1 is provided with a magnet 603, the magnet 603 has a certain suction force on the metal outer wall of the tank, so that the robot can walk on the tank wall by driving the wheels 5 without falling. Then the staff uses the remote control unit to control the movement of the tank climbing robot, and then uses the remote control unit to start the motor 306. The motor 306 drives the telescopic rod 305 to move backward and drives the rotating arm 304 to rotate, thereby driving the small electric impact hammer 301 and the vibration sensor 307 at the front end of the fixed rod 303 to extend outward. On the outside of the shell 2, when the robot crawls upward from the bottom of the cement tank, a small electric impact hammer 301 hits the outer wall of the cement tank to generate a vibration signal. The vibration signal is transmitted to the tank through the tank wall. The cement in the tank will damp the vibration, causing the vibration signal in the tank to attenuate. The degree of attenuation can be detected by the vibration sensor 307 and the control system 308, and the capacity of the cement can be calculated. The calculated detection information is transmitted to the remote control unit in the hands of the staff. After the detection is completed, the motor 306 is used to drive the telescopic rod 305 forward, so that the small electric impact hammer 301 and the vibration sensor 307 can be returned to the inside of the shell 2.

Claims

1. A tank-climbing robot for measuring the amount of cement stored in a cement tank, characterized by: The invention comprises a chassis (1), a housing (2) mounted on the chassis (1), an active cavity (4) arranged on one side of the housing (2), a measuring mechanism (3) arranged in the active cavity (4), and an adsorption mechanism (6) fixed to the bottom of the chassis (1) and capable of magnetic adsorption, wherein a small electric impact hammer (301) and a vibration sensor (307) are arranged in the measuring mechanism (3), a driving wheel (5) is rotatably connected to the chassis (1), and a control mechanism (7) is installed at the bottom of the chassis (1).

2. A tank-climbing robot for measuring the amount of cement stored in a cement tank as claimed in claim 1, characterized in that: The measuring mechanism (3) comprises a rotating arm (304) whose middle portion is rotatably mounted in the housing (2), a telescopic rod (305) fixed in the housing (2), a fixed rod (303) slidably mounted in the movable chamber (4), and a control system (308) fixed in the housing (2). Both ends of the rotating arm (304) are provided with strip holes. The output end of the telescopic rod (305) is connected to the strip hole at one end of the rotating arm (304) via a pin. One end of the fixed rod (303) is connected to the strip hole at the other end of the rotating arm (304) via a pin. The small electric impact hammer (301) and the vibration sensor (307) are both mounted on the fixed rod (303).

3. A tank-climbing robot for measuring the amount of cement stored in a cement tank as claimed in claim 2, characterized in that: The fixing rod (303) is L-shaped, and a telescopic head is provided at the movable end of the fixing rod (303), and the vibration sensor (307) is connected to the telescopic head of the fixing rod (303); a connecting block (302) is installed at the tail end of the small electric impact hammer (301), and the connecting block (302) is fixedly sleeved on the fixing rod (303).

4. The tank-climbing robot for measuring the cement storage amount in a cement tank as claimed in claim 1, characterized in that: A battery compartment (9) is provided in the chassis (1), a detachable battery (10) is installed in the battery compartment (9), and a compartment cover (11) is provided on the bottom opening of the battery compartment (9).

5. The tank-climbing robot for measuring the cement storage amount in a cement tank as claimed in claim 1, characterized in that: The adsorption mechanism (6) comprises a connector (601) fixed to the bottom of the chassis (1), the connectors (601) are arranged in an array, a mounting groove (602) is provided on the bottom plate of the connector (601), and a magnet (603) is installed in the mounting groove (602).

6. The tank-climbing robot for measuring the cement storage amount in a cement tank as claimed in claim 1, characterized in that: The control mechanism (7) includes a microcontroller (701), a suction detector (702), a distance sensor (703), and a communication component (704) mounted on the chassis (1).

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