Positioning and clamping device for large storage tank robot machining

Abstract

The utility model belongs to the technical field of large storage tank production and machining, and particularly relates to a positioning and clamping device for large storage tank robot machining. The problem that in the prior art, the requirements for accurate positioning and rotary displacement cannot be met when a robot machines a storage tank is solved. The device comprises a bottom frame, the two storage tank supporting frames slide in the front-back direction of the bottom frame, and each storage tank supporting frame is provided with two sets of rolling wheel assemblies, an adjusting assembly used for adjusting the distance between the two sets of rolling wheel assemblies and a locking assembly used for locking the storage tank supporting frames; a rotatable roller is arranged on each group of roller assembly; the clamping frame slides in the front-back direction of the bottom frame, a tail shaft assembly and a lifting assembly used for driving the tail shaft assembly to ascend and descend vertically are arranged on the clamping frame, and the tail shaft assembly comprises a positioning disc assembly rotationally arranged on the clamping frame and used for being connected with a storage tank support on the storage tank and a braking assembly used for braking the positioning disc assembly. According to the utility model, the positioning, clamping and rotary displacement of the storage tank can be realized.

Description

Technical Field

[0001] This utility model belongs to the field of large storage tank production and processing technology, specifically relating to a positioning and clamping device for robotic processing of large storage tanks. Background Technology

[0002] Fiberglass composite (FRB) tanks are a new type of composite material product manufactured using fiberglass as reinforcement and resin as binder through a winding process; commonly known as "fiberglass." Fiberglass composite tanks feature corrosion resistance, high strength, light weight, long service life, and high design flexibility, and are gradually replacing carbon steel and stainless steel tanks, finding widespread application in industries such as metallurgy, power, petrochemicals, food, and pharmaceuticals.

[0003] The production process of fiberglass composite storage tanks involves numerous steps, including spray molding of the lining and end caps, assembly, winding, flange and other accessory drilling, accessory installation, and inspection. Currently, except for major processes such as winding which have specialized equipment, the vast majority of processes are completed manually. Flange drilling, in particular, requires manual work: marking lines on the tank body according to drawings, inspecting the work, and then using hole saws and angle grinders to manually drill and repair holes. This process is complex, inefficient, and lacks precision.

[0004] Robotic processing has advantages such as high flexibility, strong adaptability, large operating space, and multi-station operation, making it particularly suitable for processing extremely large components such as storage tanks.

[0005] However, currently, for the processing of large storage tanks, there are only simple self-aligning brackets for supporting the tanks. There is a lack of dedicated positioning, clamping, and displacement systems for robotic processing, which cannot meet the precise positioning and rotational displacement requirements of robotic processing of storage tanks. Utility Model Content

[0006] This invention provides a positioning and clamping device for robotic processing of large storage tanks, aiming to solve the problem that the existing technology cannot meet the requirements of precise positioning and rotational displacement when robotically processing storage tanks.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0008] This utility model provides a positioning and clamping device for robotic processing of large storage tanks, comprising:

[0009] A base frame, on which a track assembly extending in a front-to-back direction is provided;

[0010] A tank support frame assembly includes two tank support frames arranged side-by-side on a track assembly, both of which are slidably mounted on the track assembly in a front-to-back direction. Each tank support frame is provided with two sets of left and right roller assemblies for supporting the tank, an adjusting assembly for adjusting the distance between the two sets of roller assemblies, and a locking assembly for locking the tank support frame onto the track assembly. Each roller assembly includes a roller bracket and a roller rotatably mounted on the roller bracket with its axis extending in a front-to-back direction. One of the tank support frames is provided with a drive motor for rotating the roller on that tank support frame.

[0011] A clamping frame is slidably mounted on the track assembly in the front-to-back direction and located behind the tank support frame assembly; a tail shaft assembly is provided on the clamping frame, and the tail shaft assembly slides up and down along the clamping frame via a lifting assembly. The tail shaft assembly includes a positioning disk assembly rotatably mounted on the clamping frame for connecting to a tank bracket on the tank and a braking assembly for braking the positioning disk assembly.

[0012] A further embodiment: the two tank support frames are a front tank support frame and a rear tank support frame; the drive motor is mounted on the front tank support frame.

[0013] Based on the above scheme, under the drive of the drive motor, the rollers on the front tank support frame rotate, which in turn drives the tanks located on the front tank support frame and the rear tank support frame to rotate, thereby meeting the requirements during tank processing.

[0014] A further embodiment: The lifting assembly includes a lifting screw, a lifting motor, a vertical rail mounted on the clamping frame, and a slider that slides up and down along the vertical rail and is threadedly connected to the lifting screw; the tail shaft assembly is mounted on the slider; the output shaft of the lifting motor is connected to the lifting screw.

[0015] Based on the above solution, the lifting screw rotates to drive the slider to slide up and down along the vertical rail, so that the tail shaft assembly slides up and down synchronously. This not only enables the positioning plate assembly on the tail shaft to be accurately connected to the tank support on the tank, but also improves the applicability of the clamping frame, which can be used on tanks of different sizes.

[0016] A further embodiment: The positioning disk assembly includes a support base connected to the slider, a main shaft rotatably mounted on the support base, and a positioning disk mounted on the front side of the main shaft for connecting to a tank bracket on the tank; the main shaft is mounted on the support base via a bearing seat.

[0017] Based on the above scheme, the positioning plate is connected to the storage tank support on the storage tank, which enables the clamping frame to clamp the storage tank. When the main shaft rotates, the positioning plate drives the storage tank to rotate synchronously, thereby realizing the rotational displacement of the storage tank.

[0018] A further embodiment: The braking assembly includes a braking frustum mounted on the main shaft and rotating synchronously with the main shaft, clamping plates mounted on a support base and located on both sides of the braking frustum, and a braking hydraulic actuator for driving the clamping plates to clamp or disengage from the braking frustum; the output end of the braking hydraulic actuator is connected to the clamping plates.

[0019] Based on the above scheme, when the clamping plate grips the braking frustum, the main shaft stops rotating, thereby locking the tank in the desired circumferential position and maintaining the stability of the tank during processing.

[0020] A further solution: a bidirectional thrust bearing assembly is provided between the main shaft and the support base.

[0021] Based on the above solution, since the tank body is not a regular cylinder, the bidirectional thrust bearing assembly can prevent the tank from shaking due to the horizontal force generated when the tank rotates, thereby ensuring the position of the main shaft in the horizontal direction.

[0022] A further embodiment: The adjustment assembly includes a slide rail, a lead screw motor, a ball screw, and two lead screw nuts mounted on the tank support frame;

[0023] The two lead screw nuts are slidably disposed at both ends of the ball screw and are respectively connected to the two roller brackets one-to-one; the output shaft of the lead screw motor is connected to the ball screw; the two roller brackets are slidably disposed along the slide rail.

[0024] Based on the above scheme, the distance between the two roller supports is adjusted by the cooperation of ball screw and screw nut. The structure is relatively simple, thereby adjusting the height of the storage tank.

[0025] A further embodiment: the track assembly includes a traveling track and a locking track; both tank support frames slide along the traveling track, and the locking assembly on each tank support frame slides along the locking track;

[0026] Each locking assembly includes a locking plate slidably disposed on the tank support frame and a handwheel connected to the locking plate and used to drive the locking plate closer to or away from the locking track;

[0027] When the handwheel is turned, the locking plate moves away from the locking track, and the tank support frame slides along the travel track; when the handwheel is turned in the opposite direction, the locking plate presses against the side wall of the locking track, and the tank support frame is locked on the travel track.

[0028] Based on the above solution, when processing the storage tank, the positions of the two storage tank support frames on the travel track are manually adjusted according to the tank body size, and the corresponding storage tank support frames are locked by the locking component to ensure stable processing position.

[0029] A further embodiment: the clamping frame is slidably mounted on the travel track, and the clamping frame is equipped with a travel motor for driving the clamping frame to slide along the travel track;

[0030] Both of the tank support frames and the clamping frame are equipped with walking wheel assemblies at their bottoms, and the output end of the walking motor is connected to the walking wheel assembly on the clamping frame.

[0031] A further embodiment: the walking track is an inverted V-shaped track; each group of walking wheel assemblies includes a walking wheel, which is an inverted V-shaped wheel corresponding to the inverted V-shaped track.

[0032] Based on the above scheme, compared with linear guides, the inverted V-shaped track and inverted V-shaped wheel structure in this scheme can achieve lower cost and simpler maintenance while ensuring the movement accuracy of the two tank support frames and the clamping frame.

[0033] The beneficial effects of this utility model are as follows:

[0034] 1. This utility model uses two sliding tank support frames as the tank bearing base. The height of the tank is adjusted by adjusting the distance between two sets of roller assemblies on the corresponding tank support frames through the adjustment component, thereby ensuring that the horizontal height of the tank remains consistent. Then, the clamping frame adjusts the position of the positioning plate assembly through the lifting component, so that the positioning plate is connected to the tank support frame, thereby efficiently and accurately completing the positioning and clamping of the tank.

[0035] 2. The roller assemblies of the two tank support frames are equipped with rotatable rollers, and one of the tank support frames is equipped with a drive motor for driving the rollers on the tank support frame to rotate, providing power for the rotation and repositioning of the tank. The positioning disk assembly is then locked by the braking assembly, thereby rotating the tank to the required position, completing the rotation and repositioning of the tank, and the accuracy meets the repositioning requirements of robot processing.

[0036] 3. Since the two tank support frames used to support the tank and the clamping frame used to hold the tank are slidably mounted on the base frame, and the tail shaft assembly on the clamping frame can be raised and lowered by the lifting assembly, this utility model can be compatible with tanks of different diameters, and can adjust the distance between the two sets of roller assemblies in conjunction with the cylindricity deviation of the tank body to realize the tank body leveling and initialization functions. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of a positioning and clamping device for robotic processing of large storage tanks according to this utility model;

[0039] Figure 2 This is a first-view structural schematic diagram of the tank support frame (front tank support frame) of this utility model;

[0040] Figure 3 This is a second-view structural schematic diagram of the tank support frame (front tank support frame) in this utility model;

[0041] Figure 4 This is a structural schematic diagram of the tank support frame (rear tank support frame) in this utility model;

[0042] Figure 5 This is a schematic diagram of the clamping frame in this utility model;

[0043] Figure 6 This is a structural schematic diagram of the tail shaft assembly in this utility model;

[0044] Figure 7 This is a schematic diagram of the positioning and clamping device for robotic processing of large storage tanks, which is used to position and install the storage tank.

[0045] Figure 8 This is a schematic diagram of the structure of the storage tank support in this utility model.

[0046] Explanation of the labels in the diagram:

[0047] 1-Base frame; 11-Traveling rail; 12-Locking rail; 2-Tank support frame; 21-Roller; 22-Drive motor; 23-Roller bracket; 3-Locking assembly; 31-Slide groove; 32-Locking pressure plate; 33-Handwheel; 4-Adjusting assembly; 41-Ball screw; 42-Screw nut; 43-Screw motor; 44-Slide rail; 5-Clamping frame; 51-Base; 52-Column; 521-Right rail; 53-Traveling motor; 6-Lifting assembly; 61-Lifting screw; 62-Lifting motor; 7-Positioning disc assembly; 71-Support base; 711-Slider; 72-Main shaft; 721-Bearing seat; 73-Brake frustum; 74-Positioning disc; 741-Strip groove; 75-Bidirectional thrust bearing assembly; 76-Rotary encoder; 8-Brake assembly; 81-Brake bracket; 82-Clamping plate; 83-Hydraulic cylinder; 84-Brake lever; 9-Tank; 91-Tank bracket; 911-Strip protrusion; 922-Horizontal sensor; 10-Walking wheel. Detailed Implementation

[0048] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present utility model and are not intended to limit the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0049] It should be noted that the tank support 91 on the tank 9 is a component used to support the winding of the tank 9 during the winding process. The tank support 91 is strictly coaxial with the tank body of the tank 9. In the production and processing process of the tank 9 (e.g., the flange opening process), the axial position of the tank 9 can be determined relatively easily based on the tank support 91.

[0050] like Figure 1-8 As shown, this embodiment provides a positioning and clamping device for robotic processing of large storage tanks, including:

[0051] The base frame 1 is provided with a track assembly extending in the front-to-back direction;

[0052] The tank support frame assembly includes two tank support frames 2 arranged side-by-side on the track assembly, both of which are slidably mounted on the track assembly in the front-back direction. Each tank support frame 2 is provided with two sets of left and right roller assemblies for supporting the tank 9, an adjusting component 4 for adjusting the distance between the two sets of roller assemblies, and a locking component 3 for locking the tank support frame 2 on the track assembly. Each roller assembly includes a roller bracket 23 and a roller 21 rotatably mounted on the roller bracket 23 with its axis extending in the front-back direction. One of the tank support frames 2 is provided with a drive motor 22 for driving the roller 21 on the tank support frame 2 to rotate.

[0053] The clamping frame 5 is slidably mounted on the track assembly in the front-back direction and located on the rear side of the tank support frame assembly; the clamping frame 5 is provided with a tail shaft assembly, which slides up and down along the clamping frame 5 via the lifting assembly 6; the tail shaft assembly includes a positioning disk assembly 7 rotatably mounted on the clamping frame 5 and used to connect the tank bracket 91 on the tank 9 and a braking assembly 8 used to brake the positioning disk assembly 7.

[0054] A more specific example of the above solution is: For instance... Figure 1 As shown, the track assembly on the base frame 1 includes a traveling track 11 and a locking track 12;

[0055] Both of the tank support frames 2 slide along the travel track 11, and the clamping frame 5 is slidably disposed on the travel track 11; the clamping frame 5 is provided with a travel motor 53 for driving the clamping frame 5 to slide along the travel track 11;

[0056] Both of the tank support frames 2 and the clamping frame 5 are equipped with walking wheel assemblies at their bottoms, and the output end of the walking motor 53 is connected to the walking wheel assembly on the clamping frame 5.

[0057] As a preferred embodiment of the structure of the walking track 11, the walking track 11 is an inverted V-shaped track; correspondingly, each group of walking wheel assemblies includes walking wheels 10, such as... Figure 3 As shown, the traveling wheel 10 is an inverted V-shaped wheel corresponding to the inverted V-shaped track.

[0058] Specifically, there are two travel tracks 11, which are arranged parallel to each other along the front-back direction of the base frame 1 (the front-back direction of the base frame 1 is the sliding direction of the tank support frame 2). The bottom of each of the two tank support frames 2 has four travel wheels 10; two of these travel wheels 10 are arranged in the front-back direction and slide along the left travel track 11; the other two travel wheels 10 are arranged in the front-back direction and slide along the right travel track 11. The bottom of the clamping frame 5 has eight travel wheels 10; four of these travel wheels 10 are arranged in the front-back direction and slide along the left travel track 11; the other four travel wheels 10 are arranged in the front-back direction and slide along the right travel track 11.

[0059] Furthermore, when both tank support frames 2 slide along the travel track 11, the locking component 3 on each tank support frame 2 slides along the locking track 12. Once the two tank support frames 2 are in position, the corresponding tank support frame 2 needs to be locked onto the base frame 1 by the locking component 3 to prevent the tank support frame 2 from sliding during the processing of the tank 9, which could lead to instability of the tank 9.

[0060] In this embodiment, a more specific example of the locking component 3 is:

[0061] like Figure 2 and Figure 3 As shown, each locking assembly 3 includes a locking plate 32 slidably disposed on the tank support frame 2 and a handwheel 33 connected to the locking plate 32 and used to drive the locking plate 32 closer to or further away from the locking track 12;

[0062] When the handwheel 33 is turned, the locking plate 32 moves away from the locking track 12, and the tank support frame 2 slides along the travel track 11; when the handwheel 33 is turned in the opposite direction, the locking plate 32 presses against the side wall of the locking track 12, and the tank support frame 2 is locked on the travel track 11.

[0063] A more specific example of the above scheme is as follows: each of the locking components 3 further includes a slide groove 31, the locking track 12 is located in the slide groove 31, and the slide groove 31 slides along the locking track 12, the locking pressure plate 32 is located in the slide groove 31, and the handwheel 33 is located outside the slide groove 31.

[0064] When the storage tank 9 is located on the storage tank support frame 2, the height of the storage tank 9 can be adjusted by the adjusting component 4. A more specific example of the adjusting component 4 is:

[0065] like Figure 4As shown, the adjustment assembly 4 includes a slide rail 44, a lead screw motor 43, a ball screw 41, and two lead screw nuts 42, all mounted on the tank support frame 2.

[0066] The two lead screw nuts 42 are slidably disposed at both ends of the ball screw 41 and are respectively connected to the two roller brackets 23 in a one-to-one correspondence; the output shaft of the lead screw motor 43 is connected to the ball screw 41; the two roller brackets 23 are slidably disposed along the slide rail 44.

[0067] When the two roller supports 23 slide closer to each other, the distance between them decreases, thereby increasing the height of the storage tank 9. When the two roller supports 23 slide further apart, the distance between them increases, thereby decreasing the height of the storage tank 9.

[0068] like Figure 1 , Figure 2 and Figure 4 As shown, based on the above scheme, the two tank support frames 2 are located on the front and rear sides of the base frame 1, respectively. Therefore, the tank support frame 2 located on the front side of the base frame 1 is the front tank support frame, and the tank support frame 2 located on the rear side of the base frame 1 is the rear tank support frame. Both the front and rear tank support frames include two sets of roller brackets 23, and each set of roller brackets 23 has a rotatable roller 21. The drive motor 22 for driving the roller 21 to rotate is located on the front tank support frame. That is, each of the two roller brackets 23 on the front tank support frame includes a rotatable roller 21 and a drive motor 22 for driving the roller 21 to rotate.

[0069] The rollers 21 on each roller bracket 23 can be made of polyurethane. When the drive motor 22 drives the rollers 21 on the tank support frame 2 to rotate, it drives the tank 9 to rotate. Since the rollers 21 on the rear tank support frame are rotatable, they also drive the rollers 21 on the rear tank support frame to rotate, thus cooperating to realize the rotational displacement of the tank 9.

[0070] When positioning and clamping the storage tank 9 in this embodiment, after the two storage tank support frames 2 slide to the required position and lock, the storage tank 9 is placed on the two storage tank support frames 2, and then the clamping frame 5 slides closer to the storage tank 9. The positioning plate assembly 7 connects to the storage tank bracket 91 on the storage tank 9 to complete the clamping of the storage tank 9, and the clamping frame 5 will not slide along the travel track 11.

[0071] like Figure 5 As shown, a more specific example of the lifting assembly 6 on the clamping frame 5 is as follows:

[0072] The lifting assembly 6 includes a lifting screw 61, a lifting motor 62, a vertical rail 521 mounted on the clamping frame 5, and a slider 711 that slides up and down along the vertical rail 521 and is threadedly connected to the lifting screw 61; the tail shaft assembly is mounted on the slider 711; and the output shaft of the lifting motor 62 is connected to the lifting screw 61.

[0073] Driven by the lifting motor 62, the lifting screw 61 drives the tail shaft assembly to slide up and down along the lifting screw 61, and the slider 711 slides up and down along the corresponding vertical rail 521.

[0074] like Figure 5 and Figure 6 As shown, the tail shaft assembly includes the positioning disc assembly 7 and the braking assembly 8. A further example of the positioning disc assembly 7 is:

[0075] The positioning disk assembly 7 includes a support base 71 connected to the slider 711, a main shaft 72 rotatably mounted on the support base 71, and a positioning disk 74 disposed on the front side of the main shaft 72 for connecting to the tank bracket 91 on the tank 9; the main shaft 72 is mounted on the support base 71 via a bearing seat 721. The support base 71 is threadedly connected to the lifting screw 61, and the rotation of the lifting screw 61 causes the support base 71 to slide up and down along the lifting screw 61.

[0076] It should be noted that, in order to ensure the stability of the spindle 72 mounted on the support base 71 and to prevent the spindle 72 from shaking when rotating, the spindle 72 is mounted on the support base 71 via two bearing seats 721.

[0077] Considering that the storage tank 9 has insufficient cylindricity and will generate horizontal force when rotating, a bidirectional thrust bearing assembly 75 is also provided between the end of the main shaft 72 and the support base 71 to ensure the horizontal position accuracy of the clamping frame 5.

[0078] The rear end of the main shaft 72 is equipped with a rotary encoder 76. When the main shaft 72 drives the storage tank 9 to change radially, it can realize closed-loop control of the rotation angle of the storage tank 9.

[0079] like Figure 5 and Figure 8As shown, the positioning disc 74 is connected to the tank support 91 on the tank 9 via a snap fastener. The snap fastener can be structured as follows: the positioning disc 74 has a strip-shaped groove 741, and the tank support 91 has a strip-shaped protrusion 911; the protrusion 911 is inserted into the strip-shaped groove 741, thus securing the positioning disc 74 and the tank support 91 together. Additionally, the tank support 91 is equipped with a level sensor 922 to assist in adjusting the horizontal alignment of the tank body axis of the tank 9.

[0080] When the storage tank 9 needs to be rotated, the rollers 21 on the two storage tank support frames 2 rotate to drive the storage tank 9 to rotate. The rotation of the storage tank 9 drives the main shaft 72 to rotate through the positioning plate 74. When the storage tank 9 rotates to the required position, the braking component 8 locks the main shaft 72, the main shaft 72 stops rotating, and thus the storage tank 9 stops rotating.

[0081] A further example of the braking assembly 8 is:

[0082] like Figure 6 As shown, the braking assembly 8 includes a braking frustum 73 mounted on the main shaft 72 and rotating synchronously with the main shaft 72, clamping plates 82 mounted on the support base 71 and located on both sides of the braking frustum 73, and a braking hydraulic device for driving the clamping plates 82 to clamp or disengage from the braking frustum 73; the output end of the braking hydraulic device is connected to the clamping plates 82.

[0083] Under the action of the brake hydraulic device, the brake hydraulic device drives the two clamping plates 82 to clamp the brake truncated cone 73, and the main shaft 72 stops rotating; or the brake hydraulic device drives the two clamping plates 82 to release the brake truncated cone 73, and the main shaft 72 can rotate relative to the support base 71.

[0084] Specifically, the braking assembly 8 further includes a brake bracket 81 disposed at the front end of the support base 71, and both clamping plates 82 are disposed on the brake bracket 81. The brake hydraulic device includes a hydraulic cylinder 83 and a brake lever 84, one end of the brake lever 84 being connected to the hydraulic cylinder 83, and the other end being slidably disposed on the brake bracket 81 and sliding up and down along the brake bracket 81.

[0085] When the hydraulic cylinder 83 pushes the brake lever 84 to slide down the brake bracket 81, it causes the two clamping plates 82 to clamp the brake frustum 73, and the main shaft 72 stops rotating, thereby locking the position of the storage tank 9 in the circumferential direction. When the hydraulic cylinder 83 pushes the brake lever 84 to slide up the brake bracket 81, it causes the two clamping plates 82 to release the brake frustum 73, releasing the lock on the main shaft 72.

[0086] Based on the above solutions, such as Figure 5 As shown, the clamping frame 5 can be composed of a base 51 slidably disposed on the traveling track 11, and two columns 52 disposed on the base 51. Each column 52 is provided with a vertical rail 521 disposed in the vertical direction; there are two sliders 711, which slide up and down along the corresponding vertical rail 521 respectively.

[0087] Below, as Figure 7 As shown, the following further illustrates the working process of using this utility model to position, clamp, and rotate the storage tank 9 when the robot processes it (flange opening):

[0088] First, the storage tank 9 is positioned and clamped, i.e., its working position in space (or center coordinates Xi, Yi, and Zi) is obtained and calibrated. The steps for positioning and clamping the storage tank 9 according to this invention include:

[0089] S101. According to the robot's processing radius, move the front tank support frame to the front end of the walking track 11, and rotate the handwheel 33 so that the locking plate 32 presses against the locking track 12 to lock the front tank support frame in the direction of the walking track 11.

[0090] S102. Based on the length of the storage tank 9, move the rear storage tank support frame to a suitable position on the travel track 11, preferably ensuring that the front and rear storage tank support frames do not exceed both ends of the storage tank 9. Rotate the handwheel 33 to press the locking plate 32 against the locking track 12, thereby locking the rear storage tank support frame in the direction of the travel track 11.

[0091] S103. Based on the diameter of the end face of the storage tank 9, the distance between the two sets of roller assemblies on the front storage tank support frame and the rear storage tank support frame is adjusted by the adjustment component 4 to serve as the initial position of the height of the storage tank 9.

[0092] S104. Hoist the storage tank 9 onto the front storage tank support frame and the rear storage tank support frame. At this time, the horizontal position Xi of the axis of the storage tank 9 is calibrated.

[0093] S105. Since the storage tank 9 is manufactured using a winding process, it is not a strictly cylindrical shape but essentially a cone. To ensure machining accuracy, its axial level needs to be calibrated. Based on the value of the level sensor 922 on the storage tank support 91, the distance between the two sets of roller assemblies on the front and rear storage tank support frames is adjusted respectively. It can be seen that when the distance between the two sets of roller assemblies decreases, the storage tank 9 rises; when the distance between the two sets of roller assemblies increases, the storage tank 9 falls. The height of both ends of the tank body is adjusted until the level sensor 922 reaches the standard value, thus completing the leveling adjustment of the axis of the storage tank 9.

[0094] S106. The traveling motor 53 drives the clamping frame 5 to move along the traveling track 11 towards the end face of the storage tank 9. When the clamping frame 5 and the storage tank 9 approach each other, the lifting motor 62 in the lifting assembly 6 drives the lifting screw 61 to rotate, and drives the tail shaft assembly to move up and down. When the positioning plate 74 approaches the storage tank support 91, the clamping frame 5 is finely adjusted under the drive of the traveling motor 53, and the tail shaft assembly is finely adjusted under the drive of the lifting motor 62, until the positioning plate 74 and the storage tank support 91 are completely coaxially aligned, thus achieving the alignment of the clamping frame 5 and the storage tank 9. After alignment, the clamping frame 5 can effectively clamp the storage tank 9. At this time, the data recorded by the lifting motor 62 is the calibration of the vertical position Zi of the storage tank 9.

[0095] S107. Based on the obtained coordinates of the axis Xi and Zi of tank 9, the axial direction passing through the center point of the end face of tank 9 can be obtained. At this time, the robot uses a measuring probe to approach the end face of tank 9 along the axial direction. When the probe contacts the end face of tank 9, the obtained value is the Yi coordinate of the center of the end face of tank 9, thus completing the calibration of the initial position (Xi, Yi, and Zi) of the center of the end face of tank 9.

[0096] Secondly, the openings of the storage tank 9 are distributed across its end face and sides. Considering the limitations of the robot's working range, the storage tank 9 needs to be radially repositioned according to different processing positions. The end face opening processing of the storage tank 9 generally requires processing in a fan-shaped area. After completing the opening of a portion of the area, rotational repositioning is used to process the new area. The openings on the sides of the storage tank 9, since they are distributed along the circumference of the tank body, also require rotational repositioning to complete the processing of all openings. The steps for selective repositioning of the storage tank 9 in this utility model include:

[0097] S201. When the robot completes processing in a certain area and the storage tank 9 needs to be repositioned, the hydraulic cylinder 83 pushes the brake lever 84 to slide from top to bottom along the brake bracket 81, causing the clamping piece 82 to release the brake frustum 73.

[0098] S202, the drive motor 22 on the front tank support frame drives the roller 21 to rotate. Since the roller 21 is made of polyurethane, it can drive the tank 9 to rotate through friction.

[0099] S203, the main shaft 72 of the clamping frame 5 moves with the tank 9, and the rotary encoder 76 records the rotation angle as the radial displacement value.

[0100] S204. The hydraulic cylinder 83 pushes the brake lever 84 to slide upward along the brake bracket 81, causing the clamping plate 82 to clamp the brake truncated cone 73. The position of the main shaft 72 is locked, which is transmitted through the positioning plate 74 and the tank bracket 91. The axial and radial positions of the tank 9 are also locked to ensure processing stability.

[0101] S205. The robot continues to perform hole-making. After the processing of this area is completed, the steps of S201 to S204 are repeated until all holes of the storage tank 9 are processed.

[0102] This utility model is not limited to the above-mentioned optional embodiments. Under the premise of non-contradiction, the various solutions can be combined arbitrarily. Anyone can derive other forms of products under the guidance of this utility model. However, no matter what changes are made in their shape or structure, all technical solutions that fall within the scope of the claims of this utility model are within the protection scope of this utility model.

Claims

1. A positioning and clamping device for robotic processing of large storage tanks, characterized in that, The utility model provides a kind of tank supporting frame assembly, including: Chassis, which is provided with a track assembly extending in the front-rear direction; The tank supporting frame assembly includes two tank supporting frames arranged side by side in front of and behind the track assembly, and both tank supporting frames are slidingly arranged on the track assembly in the front-rear direction; Each tank supporting frame is provided with two groups of roller assemblies for supporting the tank, an adjusting assembly for adjusting the distance between the two groups of roller assemblies, and a locking assembly for locking the tank supporting frame on the track assembly; Each roller assembly includes a roller bracket and a roller rotatingly arranged on the roller bracket with its axis extending in the front-rear direction; One of the tank supporting frames is provided with a drive motor for driving the rollers on the tank supporting frame to rotate; A clamping frame is slidingly arranged on the track assembly in the front-rear direction and located at the rear side of the tank supporting frame assembly; The clamping frame is provided with a tail shaft assembly sliding up and down along the clamping frame through a lifting assembly; The tail shaft assembly includes a positioning disc assembly rotatingly arranged on the clamping frame and used for connecting a tank bracket on the tank, and a brake assembly for braking the positioning disc assembly.

2. The positioning and clamping device for robot processing of large storage tanks according to claim 1, characterized in that, The two tank supporting frames are a front tank supporting frame and a rear tank supporting frame, respectively; The drive motor is arranged on the front tank supporting frame.

3. The positioning and clamping device for robot processing of large storage tanks according to claim 1, characterized in that, The lifting assembly includes a lifting lead screw, a lifting motor, a vertical rail arranged on the clamping frame, and a sliding block sliding up and down along the vertical rail and threadedly connected with the lifting lead screw; The tail shaft assembly is arranged on the sliding block; The output shaft of the lifting motor is connected with the lifting lead screw.

4. The positioning and clamping device for robot processing of large storage tanks according to claim 3, characterized in that, The positioning disc assembly includes a support seat connected with the sliding block, a main shaft rotatingly arranged on the support seat, and a positioning disc arranged on the front side of the main shaft and used for connecting a tank bracket on the tank; The main shaft is arranged on the support seat through a bearing seat.

5. The positioning and clamping device for robot processing of large storage tanks according to claim 4, characterized in that, The brake assembly includes a brake circular table rotatingly arranged on the main shaft and synchronous with the main shaft, clamping pieces arranged on the support seat and located on both sides of the brake circular table, and a brake hydraulic device for driving the clamping pieces to clamp or release the brake circular table; The output end of the brake hydraulic device is connected with the clamping pieces.

6. The positioning and clamping device for robot processing of large storage tanks according to claim 4, characterized in that, A bidirectional thrust bearing assembly is further arranged between the main shaft and the support seat.

7. The positioning and clamping device for robot processing of large storage tanks according to claim 1, characterized in that, The adjusting assembly includes a sliding rail arranged on the tank supporting frame, a lead screw motor, a ball screw, and two lead screw nuts; The two lead screw nuts are slidingly arranged at both ends of the ball screw and connected with two roller brackets one by one, respectively; The output shaft of the lead screw motor is connected with the ball screw; The two roller brackets are slidingly arranged along the sliding rail.

8. The positioning and clamping device for robot processing of large storage tanks according to claim 1, characterized in that, The track assembly includes a walking track and a locking track; Both tank supporting frames slide along the walking track, and the locking assembly on each tank supporting frame slides along the locking track; Each group of locking assemblies includes a locking pressing plate slidingly arranged on the tank supporting frame and a hand wheel connected with the locking pressing plate and used for driving the locking pressing plate to approach or move away from the locking track; When the hand wheel is rotated, the locking plate is away from the locking rail, and the tank support frame slides along the walking rail; When the hand wheel is reversely rotated, the locking plate is pressed on the side wall of the locking rail, and the tank support frame is locked on the walking rail.

9. The positioning and clamping device for robotic processing of large storage tanks according to claim 8, characterized in that, The clamping frame is slidably arranged on the walking rail, and a walking motor for driving the clamping frame to slide along the walking rail is arranged on the clamping frame; The bottom of each of the two tank support frames and the clamping frame is provided with a walking wheel assembly, and the output end of the walking motor is connected with the walking wheel assembly on the clamping frame.

10. The positioning and clamping device for robotic processing of large storage tanks according to claim 9, characterized in that, The walking rail is a reverse V-shaped rail, and each walking wheel assembly comprises a walking wheel which is a reverse V-shaped wheel corresponding to the reverse V-shaped rail.

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