Magnetic attraction type automatic rust removal robot for welding seam of storage tank

Abstract

A magnetic type automatic rust removal robot for welding seams of storage tanks relates to the technical field of cleaning equipment for welding seams of storage tanks and comprises a casing, a driving system, a steering system, a control system, a rust removal system, a rear wheel system, a remote control system and a dust removal system. The driving system is arranged in the machine shell and used for driving the robot to walk. The steering system is arranged in the machine shell and used for controlling the robot to turn leftwards or rightwards. The control system is arranged at the top of the machine shell and used for controlling the driving system, the steering system, the rust removal system and the dust removal system to act. The rust removal system is arranged at the bottom of the machine shell and used for grinding and polishing the welding seam of the storage tank. The remote control system is in wireless connection with the control system for control; the dust removal system is arranged in the machine shell and used for adsorbing ground and polished rust powder. According to the technical scheme, the robot can be scanned and guided to walk according to a path, weld joints can be recognized, rust and dust can be automatically removed, working efficiency is improved, and the robot is safer and more environmentally friendly.

Description

Technical Field

[0001] The utility model relates to the technical field of storage tank weld cleaning equipment, in particular to a magnetic suction type automatic rust removal robot for storage tank welds. Background Art

[0002] Pressure vessels are important production equipment in the petrochemical industry, especially some larger storage tanks, such as spherical tanks and other vertical and horizontal storage tanks. Regular inspections are particularly important. Some storage tanks with higher risks require internal inspections, and all welds need to be inspected during internal inspections. Before inspection, grinding the welds and the rust on both sides of the welds is a particularly critical step. Traditional rust removal methods mainly rely on maintenance workers to manually remove rust from the welds on the inner wall of the tank using handheld angle grinders. Rust removal efficiency is low and dust may cause harm to the human body. In recent years, rust removal robots have been gradually used in spherical tank weld rust removal operations. Despite this, many problems still exist.

[0003] To this end, the utility model proposes a magnetic tank weld automatic rust removal robot, which can scan and guide the robot to walk along a path, can identify welds and automatically remove rust and dust, thereby improving work efficiency and being safer and more environmentally friendly. Utility Model Content

[0004] In view of the above deficiencies in the prior art, the purpose of the present invention is to provide a magnetic tank weld automatic rust removal robot that can solve the above technical problems.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] A magnetic tank weld automatic rust removal robot, comprising: a housing, a drive system, a steering system, a control system, a rust removal system, a rear wheel system, a remote control system, and a dust removal system;

[0007] The driving system is arranged in the housing and is used to drive the rust removal robot to move;

[0008] The steering system is arranged in the housing and is used to control the rust removal robot to turn left or right;

[0009] The control system is arranged on the top of the casing and is used to control the actions of the drive system, steering system, rust removal system and dust removal system;

[0010] The rust removal system is arranged at the bottom of the casing and is used to grind and polish the welds of the storage tank;

[0011] The remote control system establishes a wireless connection with the control system for control;

[0012] The dust removal system is arranged in the casing and is used for absorbing rust powder produced by grinding and polishing.

[0013] Preferably, the drive system includes a drive motor, which is fixed on the top plate of the casing. A first gear is sleeved on the output shaft of the drive motor, and the first gear is engaged with the second gear. The second gear is sleeved on the transmission shaft. A first front magnetic wheel and a second front magnetic wheel are respectively provided at both ends of the transmission shaft. A bearing and a universal joint are also provided on the transmission shaft. The bearings and universal joints are distributed on both sides of the second gear. The transmission shaft is fixedly connected to the bottom plate of the casing through the bearing.

[0014] Preferably, the steering system includes a steering motor, which is fixed on the top plate of the casing. A third gear is sleeved on the output shaft of the steering motor, and the third gear is engaged with the screw on the steering shaft. The two ends of the steering shaft are respectively connected to the first front magnetic wheel and the second front magnetic wheel.

[0015] Preferably, the control system includes a control module, the control module is connected to a laser rangefinder, an external power cord is connected to the control module via a winding reel, and the control module is also provided with a scanning camera.

[0016] Preferably, the rust removal system includes a first rust removal motor and a second rust removal motor, the first rust removal motor and the second rust removal motor are both fixed on the bottom plate of the casing, the first rust removal motor is connected to the first polishing plate through a first telescopic shaft, and the second rust removal motor is connected to the second polishing plate through a second telescopic shaft, a first spring is sleeved on the outside of the first telescopic shaft, one end of the first spring abuts against the bottom plate of the casing, and the other end abuts against the first polishing plate, a second spring is sleeved on the outside of the second telescopic shaft, one end of the second spring abuts against the bottom plate of the casing, and the other end abuts against the second polishing plate.

[0017] Preferably, the rear wheel system includes a connecting rod, and a first rear magnetic wheel and a second rear magnetic wheel are respectively provided at both ends of the connecting rod. A bearing and a universal joint are provided on the connecting rod, and the bearings and universal joints are symmetrically distributed on both sides of the vertical center line of the connecting rod. The connecting rod is fixedly connected to the bottom plate of the casing through a bearing.

[0018] Preferably, the remote control system includes an operating computer, and the operating computer is provided with buttons and a display screen.

[0019] Preferably, the dust removal system includes a dust collector, which is fixed on the bottom plate of the casing. The dust collector is connected to a dust hood through a dust suction pipe, and the dust hood is arranged at an opening on the bottom plate of the casing.

[0020] Compared with the prior art, the rust removal robot has the advantages that: in the use process, the rust removal robot is adsorbed on the inner wall of the storage tank through the magnetic attraction wheel, and the driving equipment is driven to walk on the inner wall of the storage tank through the driving system, the steering system is used for controlling the equipment to turn left or right, the control system can scan and guide the robot to walk along the path, and the actions of the driving system, the steering system, the rust removal system and the dust removal system can be controlled, the working efficiency is improved, and the safety and environmental protection are improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0022] Figure 1 The control system structure diagram of the shell of the present application;

[0023] Figure 2 The driving system and steering system structure diagram of the present application;

[0024] Figure 3 The rust removal system structure diagram of the present application;

[0025] Figure 4 The rear wheel system structure diagram of the present application;

[0026] Figure 5 The remote control system structure diagram of the present application;

[0027] Figure 6 The system installation structure diagram inside the shell of the present application.

[0028] Explanation of reference signs:

[0029] 1-shell, 2-driving motor, 3-first gear, 4-second gear, 5-transmission shaft, 6-first front magnetic attraction wheel, 7-second front magnetic attraction wheel, 8-bearing, 9-universal joint, 10-steering motor, 11-third gear, 12-steering shaft, 13-control module, 14-laser range finder, 15-winding disc, 16-scanning camera, 17-first rust removal motor, 18-second rust removal motor, 19-first telescopic shaft, 20-first polishing piece, 21-second telescopic shaft, 22-second polishing piece, 23-first spring, 24-second spring, 25-connecting rod, 26-first rear magnetic attraction wheel, 27-second rear magnetic attraction wheel, 28-operating computer, 29-key, 30-display screen, 31-dust collector, 32-dust collection pipe, 33-dust collection cover. DETAILED DESCRIPTION

[0030] The following describes the invention of the present invention in detail by way of examples in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Example

[0031] like Figures 1 to 6 As shown, the utility model discloses a magnetic suction type automatic rust removal robot for storage tank welds, comprising: a housing 1, a drive system, a steering system, a control system, a rust removal system, a rear wheel system, a remote control system, and a dust removal system; the drive system is arranged in the housing 1, and is used to drive the rust removal robot to move; the steering system is arranged in the housing 1, and is used to control the rust removal robot to turn left or right;

[0032] The control system is arranged at the top of the casing 1 and is used to control the actions of the drive system, steering system, rust removal system and dust removal system; the rust removal system is arranged at the bottom of the casing 1 and is used to grind and polish the welds of the storage tank;

[0033] The remote control system establishes a wireless connection with the control system for control; the dust removal system is arranged in the housing 1 and is used to absorb rust powder produced by grinding and polishing.

[0034] Please refer to Figure 2 The drive system includes a drive motor 2, which is fixed to the top plate of the casing 1. A first gear 3 is sleeved on the output shaft of the drive motor 2, which meshes with a second gear 4. The second gear 4 is sleeved on a transmission shaft 5. A first front magnetic wheel 6 and a second front magnetic wheel 7 are provided at both ends of the transmission shaft 5. A bearing 8 and a universal joint 9 are also provided on the transmission shaft 5. The bearings 8 and the universal joint 9 are distributed on both sides of the second gear 4. The transmission shaft 5 is fixedly connected to the bottom plate of the casing 1 through the bearing 8. When in use, the drive motor 2 transmits power to the two front magnetic wheels through gear transmission to complete the forward and backward movements. The magnetic wheels are tightly attached to the tank wall by magnetic force. The universal joint 9 on the transmission shaft 5 is used to adapt to the slope of different positions of the storage tank.

[0035] Please refer to Figure 2 The steering system includes a steering motor 10, which is fixed to the top plate of the housing 1. A third gear 11 is mounted on the output shaft of the steering motor 10. The third gear 11 meshes with a lead screw on a steering shaft 12. The ends of the steering shaft 12 are respectively connected to the first front magnetic pulley 6 and the second front magnetic pulley 7. During operation, the steering motor 10 transmits power to the steering shaft 12 via a gear transmission. The ends of the steering shaft 12 are respectively connected to the two front magnetic pulleys, thereby achieving left or right steering.

[0036] Please refer to Figure 1The control system includes a control module 13, which is connected to three laser rangefinders 14 for identifying welds. According to the characteristic that the weld is more prominent than other positions on the tank wall, the three laser rangefinders 14 transmit the three distance data measured in real time to the control module 13. The control module 13 identifies that the position with the shortest distance is the weld. When an offset occurs, the control module 13 controls the steering motor 10 to complete the steering so that the robot travels along the weld; the external power cord is connected to the control module 13 through a winding reel 15. The control module 13 is also equipped with a pan-tilt scanning camera 16. The scanning camera 16 has scanning and camera functions. Before the work starts, it scans and identifies the weld position. After the scan is completed, the data is transmitted to the control module 13 for analysis. The control module 13 outputs a signal to navigate the walking route of the robot. The offset in the walking route is identified and adjusted by the laser rangefinder 14. When entering the working state, the scanning function is turned off and the camera function is turned on to monitor the rust removal work in real time.

[0037] Please refer to Figure 3 The rust removal system includes a first rust removal motor 17 and a second rust removal motor 18, and the first rust removal motor 17 and the second rust removal motor 18 are both fixed on the bottom plate of the casing 1. The first rust removal motor 17 is connected to the first polishing sheet 20 through a first telescopic shaft 19, and the second rust removal motor 18 is connected to the second polishing sheet 22 through a second telescopic shaft 21. A first spring 23 is sleeved on the outside of the first telescopic shaft 19, and one end of the first spring 23 abuts against the bottom plate of the casing 1, and the other end abuts against the first polishing sheet 20. A second spring 24 is sleeved on the outside of the second telescopic shaft 21, and one end of the second spring 24 abuts against the bottom plate of the casing 1, and the other end abuts against the second polishing sheet 22. By arranging the springs, the polishing sheet can be closely fitted to the tank wall, thereby improving the cleaning effect; two groups of the rust removal systems are set up to remove rust on both sides of the weld respectively, and the cleaning efficiency is high.

[0038] Please refer to Figure 4 The rear wheel system includes a connecting rod 25, and a first rear magnetic wheel 26 and a second rear magnetic wheel 27 are respectively provided at both ends of the connecting rod 25. A bearing 8 and a universal joint 9 are provided on the connecting rod 25. The bearings 8 and the universal joint 9 are symmetrically distributed on both sides of the vertical center line of the connecting rod 25. The connecting rod 25 is fixedly connected to the bottom plate of the casing 1 through the bearing 8.

[0039] Please refer to Figure 5The remote control system includes a handheld operating computer 28, which is provided with a button 29 and a display screen 30. The operating computer 28 establishes wireless connections with the pan-tilt scanning camera 16 and the control module 13 respectively, and the scanned image and the real-time monitoring image can be displayed on the display screen 30 on the operating computer 28; the operating computer 28 is set with manual function and automatic function. When adjusted to automatic mode, scanning is automatically performed, and rust removal is automatically performed after scanning is completed; when adjusted to manual mode, forward or backward, left or right, rust removal start and close, and dust removal start and close can be manually operated as needed.

[0040] Please refer to Figure 6 The dust removal system includes a dust collector 31, which is fixed on the bottom plate of the casing 1. The dust collector 31 is connected to the dust hood 33 through a dust suction pipe 32. The dust hood 33 is set at the opening on the bottom plate of the casing 1. By setting up a dust removal system, it is beneficial to adsorb the removed dust to avoid environmental pollution.

[0041] Working principle: When there is a rust removal task, the robot is placed on the inner wall of the storage tank. The robot will be tightly attracted to the tank by magnetic force. After connecting the power supply, the operating computer 28 is controlled. The operating computer 28 will establish connections with the control module 13 and the scanning camera 16 respectively through wireless connection; when the operating computer 28 is switched to automatic rust removal mode, the control module 13 will execute the command, first turn on the scanning camera 16 to scan the weld on the inner wall of the tank, and after the scanning is completed, the scanned image will be transmitted to the display screen 30 and the scanned data will be transmitted to the control module 13. The control module 13 will analyze the data and form a walking path to guide the robot to walk along the path; then the scanning camera 16 will turn on the camera function for real-time monitoring and transmit the monitoring screen to the display screen 30 in real time.

[0042] The control module 13 starts the drive motor 2 according to the scanned path. The drive motor 2 transmits power to the transmission shaft 5 through the meshing of the first gear 3 and the second gear 4. The transmission shaft 5 is fixed to the bottom plate of the housing 1 through the bearing 8. The transmission shaft 5 drives the first front magnetic attraction wheel 6 and the second front magnetic attraction wheel 7 forward. When the weld seam is reached, the control module 13 controls the first rust removal motor 17, the second rust removal motor 18, the vacuum cleaner 31 and the laser rangefinder 14 to turn on. The first rust removal motor 17 is connected to the first polishing plate 20 via the first telescopic shaft 19. The first spring 23 is installed between the first polishing plate 20 and the bottom plate. When encountering an uneven tank wall, it automatically adjusts by telescoping to ensure that the polishing meets the requirements. The rust removal principle of the second rust removal motor 18 is the same as that of the first rust removal motor 17. While polishing, the vacuum cleaner 31 collects the polishing dust through the dust hood 33.

[0043] Since the tank wall is mostly arc-shaped, four universal joints 9 are arranged for adjusting the height of each magnetic wheel, and meanwhile, the robot will deviate during the travel due to the uneven road, normally, the three laser distance meters 14 will transmit the measurement data to the control module 13, and since the weld is higher than the tank wall on both sides, the measurement data in the middle of the laser distance meter 14 will be smaller than that on both sides, when the measurement distance in the middle of the laser distance meter 14 is smaller than that on both sides, the control module 13 will control the robot to keep straight, when the deviation occurs, the measurement data on both sides of the laser distance meter 14 will be greater than that in the middle, at this time, the control module 13 will start the steering motor 10 to adjust, the steering motor 10 transmits power to the steering shaft 12 through the meshing of the third gear 11 and the screw rod on the steering shaft 12, the steering shaft 12 drives the first front magnetic wheel 6 and the second front magnetic wheel 7 to act to complete the steering, until the measurement data in the middle of the three laser distance meters 14 is smaller than that on both sides to stop.

[0044] When other positions except the weld of the storage tank need to be derusted, the computer 28 is operated to manual mode, the driving motor 2, the steering motor 10, the first derusting motor 17, the second derusting motor 18 and the dust collector 31 can be manually opened or closed respectively, the cloud platform type scanning camera 16 will always establish connection to transmit pictures, and manual derusting can be performed.

[0045] The above is only the preferred specific implementation mode of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can make equivalent replacement or change according to the technical scheme and application concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A magnetic tank weld automatic rust removal robot, characterized in that: include: Casing (1), drive system, steering system, control system, rust removal system, rear wheel system, remote control system and dust removal system; The driving system is arranged in the housing (1) and is used to drive the rust removal robot to move; The steering system is arranged in the housing (1) and is used to control the rust removal robot to turn left or right; The control system is arranged on the top of the housing (1) and is used to control the actions of the drive system, the steering system, the rust removal system and the dust removal system; The rust removal system is arranged at the bottom of the casing (1) and is used for grinding and polishing the weld seams of the storage tank; The remote control system establishes a wireless connection with the control system for control; The dust removal system is arranged in the housing (1) and is used to absorb rust powder produced by grinding and polishing.

2. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The drive system comprises a drive motor (2), the drive motor (2) being fixed on the top plate of the housing (1), a first gear (3) being sleeved on the output shaft of the drive motor (2), the first gear (3) being meshed with the second gear (4), the second gear (4) being sleeved on the transmission shaft (5), a first front magnetic wheel (6) and a second front magnetic wheel (7) being respectively provided at both ends of the transmission shaft (5), a bearing (8) and a universal joint (9) being further provided on the transmission shaft (5), the bearing (8) and the universal joint (9) being distributed on both sides of the second gear (4), and the transmission shaft (5) being fixedly connected to the bottom plate of the housing (1) via the bearing (8).

3. The magnetic tank weld automatic rust removal robot according to claim 2, characterized in that: The steering system comprises a steering motor (10), the steering motor (10) being fixed on the top plate of the housing (1), a third gear (11) being sleeved on the output shaft of the steering motor (10), the third gear (11) being engaged with a lead screw on a steering shaft (12), and the two ends of the steering shaft (12) being connected to the first front magnetic wheel (6) and the second front magnetic wheel (7), respectively.

4. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The control system comprises a control module (13), a laser rangefinder (14) is connected to the control module (13), an external power line is connected to the control module (13) via a winding reel (15), and a scanning camera (16) is also provided on the control module (13).

5. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The rust removal system comprises a first rust removal motor (17) and a second rust removal motor (18), wherein the first rust removal motor (17) and the second rust removal motor (18) are both fixed on the bottom plate of the housing (1), the first rust removal motor (17) is connected to the first polishing sheet (20) via a first telescopic shaft (19), and the second rust removal motor (18) is connected to the second polishing sheet (22) via a second telescopic shaft (21), a first spring (23) is sleeved on the outside of the first telescopic shaft (19), one end of the first spring (23) abuts against the bottom plate of the housing (1), and the other end abuts against the first polishing sheet (20), and a second spring (24) is sleeved on the outside of the second telescopic shaft (21), one end of the second spring (24) abuts against the bottom plate of the housing (1), and the other end abuts against the second polishing sheet (22).

6. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The rear wheel system comprises a connecting rod (25), wherein a first rear magnetic wheel (26) and a second rear magnetic wheel (27) are respectively provided at both ends of the connecting rod (25), a bearing (8) and a universal joint (9) are provided on the connecting rod (25), and the bearing (8) and the universal joint (9) are symmetrically distributed on both sides of the vertical center line of the connecting rod (25), and the connecting rod (25) is fixedly connected to the bottom plate of the housing (1) through the bearing (8).

7. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The remote control system includes an operating computer (28), and the operating computer (28) is provided with buttons (29) and a display screen (30).

8. The magnetic tank weld automatic rust removal robot according to claim 1, characterized in that: The dust removal system comprises a dust collector (31), the dust collector (31) being fixed on the bottom plate of the housing (1), the dust collector (31) being connected to a dust hood (33) via a dust suction pipe (32), and the dust hood (33) being arranged at an opening on the bottom plate of the housing (1).

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