Release and recovery device of large storage tank operation robot

Abstract

The utility model provides a putting and recycling device for a large storage tank operation robot. The problem that when the area above a storage tank is limited, the robot is difficult to put is solved. The device mainly comprises a roll-over stand, a fixed platform, a steel wire rope driving system and a cable driving system. The overturning frame is connected with the fixed platform through a hinge shaft and is allowed to rotate around the shaft so as to realize putting and recycling of the robot; and the steel wire rope and the umbilical cable are respectively controlled by respective driving motors, so that the operation is stable and safe. And the fixed platform is arranged at the storage tank inspection manhole and is provided with the height-adjustable supporting legs, so that the requirements of different working conditions are met. In addition, the control cabinet controls the motors and the cables in a centralized mode, operation is convenient, the putting difficulty is lowered, the applicability in the complex environment is improved, and an effective solution is provided for chemical equipment maintenance.

Description

Technical Field

[0001] This utility model belongs to the field of chemical equipment technology and relates to a device for deploying and recovering a large storage tank operation robot. Background Technology

[0002] Currently, the main cleaning methods for large storage tanks include manual cleaning, high-pressure water jet cleaning, chemical cleaning, and robotic cleaning. Especially for specialized tanks containing residual toxic or hazardous substances, dedicated robots are required. These robots are typically deployed into the tank from above using cranes or overhead cranes. However, when there are irritating gases evaporating above the tank or when the working area above is limited, it is difficult to deploy these robots. Furthermore, cranes may be restricted in certain areas, making it even more difficult to deploy robots in designated locations. If large storage tanks are to be scrapped, it will result in significant losses.

[0003] Chinese patent application CN118031011A discloses a robot delivery mechanism and system. It uses a limiting component to circumferentially and top-mountedly limit the robot; a driving component moves the limiting component from a third position to a fourth position along the telescopic direction, achieving precise delivery of the robot; a second telescopic component drives the limiting component to rotate around a first hinge point, adjusting the angle between the central axis of the limiting cavity and the telescopic direction from a first angle to a second angle, achieving precise angle delivery of the robot. This allows for precise control of the robot's delivery position and angle, providing valuable reference for automated delivery and retrieval systems. While this patent achieves precise point and angle delivery of the robot, it primarily addresses the delivery of robots to pressurized pipelines and does not consider the delivery of robots to large storage tanks where irritating gases are emitted or where the working area above is limited. Summary of the Invention

[0004] To achieve the above objectives, this utility model provides a device for deploying and retrieving large storage tank operation robots, which solves the problem of difficulty in deploying operation robots when the area above large storage tanks is limited in the prior art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is a deployment and retrieval device for a large storage tank operation robot, including a tilting frame.

[0006] The tilting frame includes a tilting frame body, a hinge shaft, and a wire rope fixing ring. A platform surface is provided perpendicularly to the tilting frame body at a position near the bottom of the tilting frame body. A support rod is fixed on the platform surface and the tilting frame body. The support rod, the platform surface, and the tilting frame body form a triangular structure.

[0007] Furthermore, the hinge shaft is located at the bottom end of the tilting frame body, and the hinge shaft is fixedly assembled with the rolling bearing on the fixed platform. The wire rope fixing ring is located at the top end of the tilting frame body. Before the tilting frame is tilted, its platform surface is flush with the platform surface of the fixed platform. The wire rope is fixed on the wire rope fixing ring and the wire rope drum. A baffle is provided at the rolling bearing.

[0008] Furthermore, the fixed platform is usually installed at the maintenance manhole of the storage tank. The fixed platform includes a platform and support legs. The support legs are fixed below the platform. The support legs can be configured as multi-segment splicing with adjustable height, or they can be configured as a tripod.

[0009] Furthermore, a control cabinet is provided at the right end of the platform, and the wire rope drive motor, umbilical cable, and cable drive motor are all connected into the control cabinet.

[0010] Furthermore, a wire rope drive drum is provided near the control cabinet on the platform, and the wire rope drive drum includes a wire rope drive motor and a wire rope drum.

[0011] Furthermore, a cable drive drum is provided near the storage tank on the platform. The cable drive drum includes a cable drive motor and a cable drum. One end of the umbilical cable is wound on the cable drum, and the other end is connected to the working robot.

[0012] The beneficial effects of this utility model are:

[0013] 1. The operation robot can be deployed through the maintenance manhole, and deployment will not be affected even if there is irritating gas evaporation above the storage tank or the working area is limited;

[0014] 2. The robot is deployed and retrieved using a tilting frame, fixed platform, wire rope driven drum, wire rope, cable driven drum and control cabinet. The whole process is more stable and safer than deployment by crane or overhead crane.

[0015] 3. The dispensing device has a simple structure, low cost, and can be used in various large storage tanks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the working robot of this utility model before deployment.

[0018] Figure 2 This is a schematic diagram of the deployment of the work robot of this utility model.

[0019] Figure 3 This is a schematic diagram of the flipping frame structure of this utility model.

[0020] Figure 4 This is a schematic diagram of the fixed platform structure of this utility model.

[0021] Figure 5 This is a schematic diagram of the wire rope drive reel structure of this utility model.

[0022] Figure 6 This is a schematic diagram of the cable drive reel structure of this utility model.

[0023] Figure 7 This is a schematic diagram of the tripod support leg of this utility model.

[0024] In the diagram, 1. Tilting frame, 2. Fixed platform, 3. Wire rope drive drum, 4. Wire rope, 5. Cable drive drum, 6. Control cabinet, 7. Working robot, 8. Storage tank, 9. Umbilical cable, 10. Inspection manhole, 11. Tilting frame body, 12. Hinge shaft, 13. Wire rope fixing ring, 14. Platform, 15. Support leg, 16. Rolling bearing, 17. Wire rope drive motor, 18. Wire rope drum, 19. Cable drive motor, 20. Cable drum. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] like Figures 1-7 As shown, this embodiment provides a deployment and retrieval device for a large storage tank operation robot, including a tilting frame 1.

[0027] The tilting frame 1 includes a tilting frame body 11, a hinge shaft 12, and a wire rope fixing ring 13. A platform surface is provided perpendicularly to the tilting frame body 11 near the bottom. A support rod is fixed on the platform surface and the tilting frame body 11. The support rod, the platform surface, and the tilting frame body 11 form a triangular structure, which ensures the stability of the tilting frame 1.

[0028] The hinge shaft 12 is located at the bottom end of the tilting frame body 11. The hinge shaft 12 is fixedly assembled with the rolling bearing 16 on the fixed platform 2. The wire rope fixing ring 13 is located at the top end of the tilting frame body 11. Before the tilting frame 1 is tilted, its platform surface is flush with the table surface 14 of the fixed platform 2. The wire rope 4 is fixed on the wire rope fixing ring 13 and the wire rope drum 18. The structure is relatively simple.

[0029] A baffle is provided at the rolling bearing 16 so that the working robot 7 is placed into the storage tank at a certain angle.

[0030] The fixed platform 2 is typically installed at the maintenance manhole 10 of the storage tank 8. The fixed platform 2 includes a platform 14 and support legs 15. The platform 14 can be configured with different heights and shapes according to the working conditions. The support legs 15 are fixed below the platform 14, allowing the working robot 7 to move on the platform 14. The support legs 15 can be configured as multi-segmented, height-adjustable sections, or as a tripod. Figure 1 As shown in Figure 2, when the support leg 15 is configured as a multi-segment, height-adjustable structure, the support leg 15 is typically supported on the ground outside the storage tank 8; for example... Figure 7 As shown, when the support leg 15 is configured as a tripod structure, the support leg 15 is typically supported on one side of the fixed platform 2 and on the other side of the outer wall of the storage tank 8, with the inclined side connecting the two ends together. The release is not affected by the presence of irritating gases evaporating above the storage tank or when the working area is restricted, and there are no restrictions on the type or size of the storage tank.

[0031] A control cabinet 6 is located at the right end of the platform 14. The cables of the wire rope drive motor 17, umbilical cable 9, and cable drive motor 19 are all connected into the control cabinet 6. The robot is deployed and retrieved through the flipping frame 1, fixed platform 2, wire rope drive drum 3, wire rope 4, cable drive drum 5, and control cabinet 6, making the whole process more stable and safer.

[0032] The wire rope drive drum 3 is fixed on the table 14 near the control cabinet 6. The wire rope drive drum 3 includes a wire rope drive motor 17 and a wire rope drum 18. Starting the wire rope drive motor 17 drives the wire rope drum 18 to rotate, thereby tightening and loosening the wire rope 4.

[0033] The work robot 7 includes an umbilical cable 9, which is wound on a cable drive drum 5 to provide power and tension to the work robot 7.

[0034] The cable drive drum 5 is fixed on the platform 14 near the storage tank 8. The cable drive drum 5 includes a cable drive motor 19 and a cable drum 20. One end of the umbilical cable 9 is wound on the cable drum 20. The cable drive motor 19 is started to drive the cable drum 20 to rotate, thereby tightening and loosening the umbilical cable 9.

[0035] During deployment, the robot 7 moves from the platform 14 of the fixed platform 2 onto the tilting frame 1 (e.g., ...). Figure 1 As shown), the control cabinet 6 controls the wire rope drive motor 17 on the wire rope drive drum 3 to reverse, causing the wire rope drive motor 17 to drive the wire rope drum 18 to rotate in the opposite direction. The wire rope 4 between the wire rope drum 18 and the tilting frame 1 lengthens, and simultaneously, under the influence of gravity, the tilting frame 1 begins to rotate around the hinge axis 12. Once the tilting frame 1 has rotated to the predetermined position, the wire rope drive drum 3 stops rotating. At this point, the working robot 7 is taut by the umbilical cable 9 and suspended on the tilting frame 1 (as shown). Figure 2 (As shown). The cable drive motor 19 on the cable drive drum 5 is reversed by the control cabinet 6. The cable drive motor 19 drives the cable drum 20 to rotate in the opposite direction. Under the action of gravity, the working robot 7 connected with the umbilical cable 9 is gradually lowered until the working robot 7 is lowered to the bottom of the storage tank 8.

[0036] After the robot completes its work at the bottom of tank 8, the control cabinet 6 controls the cable drive motor 19 on the cable drive drum 5 to rotate forward. The cable drive motor 19 drives the cable drum 20 to rotate forward, thereby gradually tightening the umbilical cable 9. The umbilical cable 9 begins to gradually pull the robot 7 back onto the tilting frame 1. The control cabinet 6 controls the wire rope drive motor 17 on the wire rope drive drum 3 to rotate forward. The wire rope drive motor 17 drives the wire rope drum 18 to rotate forward, and the wire rope 4 tightens the wire rope fixing ring 13, causing the tilting frame 1 to begin rotating around the hinge axis 12 until the platform surface of the tilting frame 1 is flush with the table surface 14, at which point the wire rope drive drum 3 stops driving.

[0037] The various embodiments in this specification are described in a related manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0038] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A device for deploying and retrieving a large storage tank operation robot, characterized in that, The device includes a tilting frame (1), which includes a tilting frame body (11), a hinge shaft (12), and a wire rope fixing ring (13). A platform surface is provided perpendicularly to the tilting frame body (11) near the bottom of the tilting frame body (11). A support rod is fixed on the platform surface and the tilting frame body (11). The support rod, the platform surface, and the tilting frame body (11) form a triangular structure. The hinge shaft (12) is located at the bottom of the tilting frame body (11). The hinge shaft (12) is fixedly assembled with the rolling bearing (16) on the fixed platform (2). The wire rope fixing ring (13) is located at the top of the tilting frame body (11). Before the tilting frame (1) is tilted, its platform surface is flush with the table surface (14) of the fixed platform (2). The wire rope (4) is fixed on the wire rope fixing ring (13) and the wire rope drum (18). A baffle is provided at the rolling bearing (16).

2. The deployment and retrieval device for a large storage tank operation robot according to claim 1, characterized in that, The fixed platform (2) is usually set at the maintenance manhole (10) of the storage tank (8). The fixed platform (2) includes a platform (14) and a support leg (15). The support leg (15) is fixed below the platform (14). The support leg (15) can be set in a multi-segment splicing height adjustable form or in a tripod form.

3. The deployment and retrieval device for a large storage tank operation robot according to claim 1, characterized in that, A control cabinet (6) is provided at the right end of the platform (14), and the cables of the wire rope drive motor (17), umbilical cable (9) and cable drive motor (19) are all connected into the control cabinet (6).

4. The deployment and retrieval device for a large storage tank operation robot according to claim 1, characterized in that, The platform (14) is provided with a wire rope drive drum (3) near the control cabinet (6). The wire rope drive drum (3) includes a wire rope drive motor (17) and a wire rope drum (18).

5. The deployment and retrieval device for a large storage tank operation robot according to claim 1, characterized in that, The platform (14) is provided with a cable drive drum (5) near the storage tank (8). The cable drive drum (5) includes a cable drive motor (19) and a cable drum (20). One end of the umbilical cable (9) is wound on the cable drum (20), and the other end is connected to the working robot (7).

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