CN108382478A - A kind of double-layer track formula climbing robot - Google Patents

Abstract

The invention belongs to the technical field of wall-climbing robots, in particular to a double-layer rail-type wall-climbing robot that vertically crawls along the wall of a vertical cylindrical outer tank. In order to solve the problem of low measurement accuracy when using the prior art to measure a vertical tank body, the invention discloses a double-layer rail-type wall-climbing robot that can vertically crawl along the vertical cylindrical outer tank wall. The robot includes an upper track, a lower track, a robot and at least three groups of crawling units; the crawling unit is connected with the lower track and distributed along the circumferential direction; the upper track is fixedly connected in parallel with the lower track, and the robot is located on the upper track surface and can reciprocate along the circumferential direction. The double-layer rail-type wall-climbing robot of the present invention not only has a simple structure and low manufacturing cost, but also can greatly improve the accuracy of measuring the outer wall of the tank.

Description

A double-layer rail-type wall-climbing robot

technical field

The invention belongs to the technical field of wall-climbing robots, in particular to a double-layer rail-type wall-climbing robot that vertically crawls along the wall of a vertical cylindrical outer tank.

Background technique

Vertical cylindrical metal oil storage tanks are the main containers for storing oil products in petrochemical enterprises and oil depots. According to relevant technical data and field investigations, most oil storage tanks are welded and spliced with metal steel plates, with a diameter of 10-38m. The oil volume is between 3000-10000m ³ , and the oil storage tank is bulky. However, due to the influence of processing and use environment, the geometric shape and size of the tank during oil storage will be different from the design requirements, resulting in a discrepancy between the theoretical volume and the actual volume. Therefore, the oil depot manager is required to check the volume ratio of the oil storage tank Make precise determinations.

At present, the total station method is an emerging radial deviation measurement method. The total station is used to measure the distance of the points to be measured on the outer tank wall of the vertical tank, and then the radial deviation of each point is obtained. Although the use of the total station method can realize automatic distance measurement and reading, eliminating the subjectivity of manual reading, but due to the small spot of distance measurement, it is easy to be affected by the reflection and scattering of light by the small scattered pits and bumps on the tank wall, resulting in large random errors in measurement. Moreover, when the tank body is high, due to the large incident angle of the ranging light, the measurement error becomes larger, which cannot be avoided by the principle of optical ranging. Therefore, using the total station method to measure the tank body will lead to a decrease in measurement accuracy due to the unavoidable shortcomings brought about by the measurement principle.

Contents of the invention

In order to solve the problem of low measurement accuracy when using the prior art to measure the vertical tank body, the present invention proposes a double-layer rail-type wall-climbing robot that can vertically crawl along the vertical cylindrical outer tank wall. The robot includes an upper track, a lower track, a robot and at least three groups of crawling units; the crawling unit is connected to the lower track and distributed along a circumferential direction; wherein,

The upper track is fixedly connected in parallel with the lower track, and the inner diameter of the upper track and the inner diameter of the lower track are larger than the outer wall diameter of the tank;

The robot includes a base and a robot arm; the base is slidingly connected to the upper surface of the upper track, and can reciprocate along the upper track in a circumferential direction; one end of the robot arm is connected to the base, The other end is used to fix the measuring device;

The crawling unit is an adjustable structure, including a crawling motor and an adjustable crawling wheel set; the crawling motor is fixedly connected to the lower track, the crawling wheel set is connected to the lower track, and all the crawling wheel sets point to The direction of the central axis of the lower track and the size of the circle surrounded by all crawling wheel sets are adjustable; the crawling wheel sets are driven by the crawling motor to rotate freely.

Preferably, both the upper layer track and the lower layer track are composed of a plurality of arc-shaped tracks spliced along the circumferential direction.

Preferably, the lower track is an L-shaped structure, wherein the vertical end is a side rail; the crawling wheel set is connected to the side rail, including a first connecting rod, a second connecting rod, a third connecting rod and a bushing One end of the first connecting rod is hinged to the lower track, the other end is hinged to one end of the second connecting rod, and the other end of the second connecting rod is in the middle of the third connecting rod hinge connection; one end of the third connecting rod is hinged to the lower track, and the other end is connected to the bushing; the bushing is a hollow structure with a drive shaft inside, and the drive shaft is connected to the The axle sleeves are connected by bearings; the end of the transmission shaft is provided with a wheel, and the middle position of the transmission shaft is connected with the output shaft of the creeping motor.

Further preferably, the crawler motor is slidably and fixedly connected to the side rail along the vertical direction.

Further preferably, the crawling wheel set further includes a buffer unit, one end of the buffer unit is hinged to the middle position of the third connecting rod, and the other end is hinged to the side rail.

Further preferably, the third connecting rod is a split structure, including a body, an assembly and a spring; the body and the assembly are plugged in and connected in the axial direction, and the bodies and the assembly are respectively A spring seat is provided; the spring is sleeved outside the body and the combination and connected with the spring seat

Preferably, the upper surface of the upper track is provided with a track groove, and the base is provided with a wheel driven by a motor; the wheel is located in the track groove and can reciprocate along the track groove.

Preferably, the robot also includes multiple sets of clamping units, the clamping units include brake shoes and clamping motors; the clamping motors are fixedly connected to the lower track, and the brake shoes are connected to the clamping motors. The output shaft is connected to reciprocate along the diameter direction of the lower track under the drive of the clamping motor.

Preferably, the upper track is connected to the lower track through a support rod, and the support rod is detachably connected to the upper track and the lower track.

Further preferably, the support rod adopts a double-start thread structure, and the support rod is screwed to the upper track and the lower track and then fixed by nuts.

When the double-layer rail-type wall-climbing robot of the present invention is used to measure the outer wall of the vertical tank body, it has the following beneficial effects:

1. In the present invention, the reference track for measurement and the climbing track for movement are respectively formed by the upper track and the lower track. At this time, the measuring device is directly moved to the outer wall position to be measured in the tank body, and the measuring device It forms an integral body with the entire wall-climbing robot, and uses the upper rail as the benchmark for the movement of the measuring device to improve the stability and accuracy of the measuring device moving along the circumferential direction of the outer wall of the tank. In this way, the data measurement of the same height can be formed into an overall measurement process, continuous and complete data can be obtained, and the effect of direct measurement of the measurement area can be formed, thereby greatly improving the accuracy of the measurement device for the measurement of the outer wall of the tank.

2. The double-layer track-type wall-climbing robot of the present invention adopts a closed ring structure, and more than three crawling units are evenly distributed along the entire circumferential direction, so that the simultaneous contact of all crawling units with the outer wall of the tank can affect the tank body along the circumferential direction. The uniformly distributed supporting force keeps the entire wall-climbing robot moving vertically along the outer wall of the tank smoothly and stably, so as to ensure the parallelism of the upper track and the accuracy of the final measurement.

3. The wheels used by the double-layer track-type wall-climbing robot of the present invention can be conventional rubber wheels with a high friction coefficient, and no special magnetic wheels are required, thereby greatly reducing the manufacturing cost and later maintenance cost of the equipment.

4. The double-layer rail-type wall-climbing robot of the present invention is evenly distributed with more than three sets of clamping units along the circumferential direction, which are used for temporary auxiliary support and fixing during the measurement process of the wall-climbing robot, which can not only improve the fixing efficiency of the wall-climbing robot. Stability, to ensure the reliability and safety of the wall-climbing robot and improve the accuracy of measurement, and can reduce the load of the crawling motor, relieve the requirement of braking force on the crawling motor when the wall-climbing robot is temporarily fixed, and prolong the service life of the crawling motor .

5. In the double-layer rail-type wall-climbing robot of the present invention, the crawling wheel set adopts an adjustable structure, that is, the size of the ring surrounded by all the wheels is adjustable, which not only can meet the measurement of tanks with different outer diameters, but also greatly improves The use efficiency of the equipment, and the degree of compression of the wheels on the outer wall of the tank can be artificially adjusted during the composition process, thereby greatly improving the effectiveness and stability of the entire wall-climbing robot in contact with the outer wall of the tank, ensuring the safety of the wall-climbing robot during the moving process sex and reliability.

Description of drawings

Fig. 1 is the top view structural representation of double-deck track type wall-climbing robot in embodiment 1;

Fig. 2 is a schematic diagram of an expanded section along the A-A direction in Fig. 1;

Fig. 3 is a schematic diagram of a partially enlarged structure at B in Fig. 2;

Fig. 4 is the partial structure schematic diagram when crawling unit is in natural state in embodiment 2;

Fig. 5 is the structural representation of crawling unit along the H direction in Fig. 4 in embodiment 2;

Fig. 6 is a partial structural schematic diagram of the crawling unit in Fig. 5 when it is in a supported state;

Fig. 7 is a partial schematic diagram of another structure of the third connecting rod in Fig. 6 .

Detailed ways

The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

As shown in FIG. 1 and FIG. 2 , the double-layer track-type wall-climbing robot of this embodiment includes an upper track 1 , a lower track 2 , a robot 3 and three sets of crawling units 4 . Wherein, three groups of crawling units 4 are fixedly installed on the lower track 2 and distributed along the circumferential direction.

The upper track 1 and the lower track 2 are fixedly connected in parallel, and the inner diameter of the upper track 1 and the inner diameter of the lower track 2 are larger than the outer wall diameter of the tank body, so that the upper track 1 and the lower track 2 can be sleeved on the tank The outside of the tank then reciprocates vertically along the outer wall of the tank.

Preferably, in this embodiment, both the upper track 1 and the lower track 2 adopt a split structure, and are respectively composed of three sections of arc-shaped tracks with equal radians spliced sequentially along the circumferential direction. Among them, trapezoidal steps 11 and 21 are designed at the end of each arc-shaped track for installation and positioning between adjacent arc-shaped tracks, and threaded holes are also provided at the position of the trapezoidal steps for threading. Screws are provided to realize the connection and fixation of two adjacent arc-shaped tracks.

In addition, the upper track 1 and the lower track 2 are fixedly connected by a plurality of vertically arranged support rods 5 . Like this, under the situation of completing the overall connection between the upper track 1 and the lower track 2, the weight of the whole wall-climbing robot can be greatly reduced by means of the support connection of several support rods 5, so that the wall-climbing robot can flexibly move along the vertical tank. The body moves back and forth in the height direction.

Preferably, in this embodiment, the support rod 5 adopts a double-start thread structure, and is respectively connected with the upper track 1 and the lower track 2 with detachable threads. Wherein, after the lower end thread of the support rod 5 is threadedly connected with the upper surface of the lower track 2, the position between the two is fixed by a nut on one side of the upper surface of the lower track 2; After the lower surface is threaded, the position between the two is fixed by a nut on the lower surface side of the upper track 1. In this way, the upper track 1 and the lower track 2 are connected by the support rod 5 with a double-threaded structure, which is not only convenient for disassembly and assembly, but also can adjust the position of the nut on the support rod 5. The height distance and the levelness of the upper surface of the upper track 1 are precisely adjusted, so as to ensure the levelness of the upper surface of the upper track 1 , thereby ensuring the measurement accuracy of the robot 3 .

The robot 3 includes a base 31 and a robot arm 32 . Wherein, the base 31 is slidingly connected to the upper surface of the upper track 1 , and can reciprocate along the upper track 1 in the circumferential direction. One end of the robotic arm 32 is connected to the base 31, and the other end is provided with a connecting head, such as a rotating clamp, for fixing the measuring device, so as to carry out stable measurement and collection of the size and shape of the outer wall of the tank.

Preferably, as shown in FIG. 3 , the upper surface of the upper track 1 is provided with a track groove 12 , and at the bottom of the base 31 is provided with a motor-driven wheel 311 and a guide step 312 . Wherein, the wheel 311 is located in the track groove 12, and can reciprocate along the track groove 12 under the drive of the motor, and the lower end of the guide step 312 extends into the track groove 12, and the wheel 311 is fixedly connected with the guide step 312 and passes through the horizontal The set bearing is connected with the base 31. At this time, the robot 3 moves under the drive of the wheels 311 , and realizes the movement of the robot 3 along the track groove 12 under the guidance of the guide step 312 and the steering action of the bearing.

Wherein, in this embodiment, the bottom of the base 31 is provided with two wheels 311 , and the two wheels 311 are set on the principle of a two-wheel balance car, and a four-wheel structure can also be used to support and drive the robot 3 . In addition, the guide step 312 is preferably designed as an arc-shaped structure, so that the arc surface contact is maintained between the guide step 312 and the track groove 12, thereby avoiding the jamming between the guide step 312 and the track groove 12 during the movement of the robot 3, and then Ensure the smoothness and stability of robot 3 movement.

In addition, in this embodiment, the robot arm 32 adopts a multi-joint structure, which is composed of a plurality of connecting rods sequentially connected by rotating joints. In this way, by adjusting the position and angle relationship between different connecting rods, the final accurate positioning of the position of the connecting head can be realized, thereby ensuring the installation and positioning accuracy of the measuring device. Among them, the mechanical arm 32 can directly adopt a mechanical universal magnetic base, and be fixedly connected to the base 31 through magnetic force, which not only facilitates the fixed connection between the mechanical arm 32 and the base 31, but also can quickly replace the mechanical arm 32, improving operation. convenience.

In addition, although only one robot 3 is installed in this embodiment, multiple robots 3 can be installed on the upper track 1 at the same time in other embodiments as required. In this way, with the help of multiple robots 3 working at the same time, not only can the same data be collected multiple times at the same time to improve the final measurement accuracy, but also multiple different data can be collected synchronously to improve the efficiency of data measurement and collection.

As shown in FIG. 2 , the crawling unit 4 includes a crawling motor 41 and a crawling wheel set 42 . Wherein, the creeping motor 41 is fixedly connected with the lower track 2, the crawling wheel set 42 is connected with the lower track 2 through a strut 43, and the crawling wheel set 42 points to the center of the lower track 2 along the diameter direction, while the crawling wheel set 42 and the crawling motor 41 The output shaft transmission connection, thereby can rotate freely under the drive of creeping motor 41. At this time, the ring formed by all the crawling wheel sets 42 is adapted to the diameter of the outer wall of the tank, thereby ensuring that all the crawling wheel sets 42 are in contact with the outer wall of the tank at the same time, ensuring the stability of the entire wall-climbing robot moving along the outer wall of the tank .

In this embodiment, the crawling wheel set 42 adopts a four-wheel structure arranged in two rows and two rows, and is divided into two front wheels 421 and two rear wheels 422. The pole 43 adopts a hollow I-shaped structure, wherein the pole 43 The four end distributions are connected with two front wheels 421 and two rear wheels 422, and the middle part of the pole 43 is fixedly connected with the lower floor track 2 by a diagonal rod. Wherein, the two front wheels 421 are connected by the front axle, and the two rear wheels 422 are connected by the rear axle. The distribution of the front axle and the rear axle is fixed inside the strut 43 through bearing support, and the front axle and the rear axle are connected by a chain. Carry out synchronous rotation; the output shaft of crawler motor 41 stretches into pole 43 inside through coupling, and is connected with chain, thereby drives front wheel 421 and rear wheel 422 to carry out synchronous rotation.

In other embodiments, the number of crawling units 4 and the number and arrangement of wheels in the crawling wheel set 42 can also be adjusted according to the size of the tank, for example, the ends of the front axle and the rear axle are designed as an angled structure , increase the contact area between the front wheel and the rear wheel and the outer wall of the tank to ensure that the crawling wheel set 42 has sufficient power and ensure the stability of the entire wall-climbing robot in the process of crawling along the outer wall of the tank.

In addition, as shown in FIG. 1 and FIG. 2 , the double-layer track-type wall-climbing robot of this embodiment also includes three sets of clamping units 6 uniformly distributed along the circumferential direction of the lower track 2 . The clamping unit 6 includes a brake shoe 61 and a clamping motor 62 , wherein the clamping motor 61 is fixedly connected to the lower track 2 , and the brake shoe 61 is arranged along the diameter direction of the lower track 2 and connected to the output shaft of the clamping motor 62 .

In this embodiment, the brake shoe 61 has an arc-shaped structure and corresponds to the diameter of the outer wall of the tank. At the same time, the brake shoe 61 and the clamping motor 62 are connected by a bevel gear set, so that the brake shoe 61 can move along the lower track. 2 reciprocating movement in the diameter direction. At this time, the brake shoe 61 can realize the contact and disengagement with the outer wall of the tank under the drive of the clamping motor 62, and then contact the outer wall of the tank with the help of a plurality of brake shoes 61 at the same time, and the whole wall-climbing robot is in the tank body. The position on the outer wall is fixed with temporary auxiliary support.

When using the double-layer track-type wall-climbing robot of this embodiment to measure the outer wall of the vertical tank body, first, all the arc-shaped tracks that form the upper track 1 and the lower track 2 are placed on the outside of the tank body for assembly. All the crawling wheel sets 42 connected to the lower track 1 are in contact with the outer wall of the tank at the same time, and the connection and fixation of the upper track 1 and the lower track 2 are completed through screws and support rods 5. In the process, through different support rods 5 The adjustment of the position of the nut keeps the upper surface of the upper rail 1 in a horizontal state; then, the measuring device is fixed at the position of the connector on the machine arm 32, and the measuring device is adjusted by adjusting the positional relationship between the multiple connecting rods. Be fixed at the best position; then, start the crawling motor 41 to drive the front wheel and the rear wheel in the crawling wheel set 42 to rotate, and drive the whole wall-climbing robot to move vertically along the outer wall of the tank, when the specified wall-climbing robot moves After measuring the position, close the crawling motor 41 and utilize the frictional force between the wheels in the crawling wheel set 42 and the outer wall of the tank and the braking force of the crawling motor 41 to the front wheel and the rear wheel in the crawling wheel set 42 to temporarily fix the whole wall-climbing robot Keep still on the outer wall of the tank, and at the same time start the clamping motor 62 to extend all the brake shoes 61 along the diameter of the tank and contact with the outer wall of the tank to support and fix the entire wall-climbing robot; then, start The wheel 311 driven by the motor moves along the track groove 12 in the upper track 1, thereby driving the measuring device to measure and collect data in the circumferential direction on the outer wall of the tank; finally, after the measurement of the data of this layer is completed, stop the wheel 311 The movement of clamping motor 62 is reversely activated to recover brake shoe 61, and the crawling motor 41 is started again to drive the whole wall-climbing robot to move up and down along the outer wall of the tank.

In addition, in this embodiment, three groups of clamping units 6 are set, and in other embodiments, more clamping units 6 can also be arranged according to the size of the tank body, thereby increasing the number of clamping units 6 and the tank body. The contact of the outer wall strengthens the stability and reliability of temporarily fixing the wall-climbing robot.

In addition, a greater number of crawling units 4 can also be set, so that when more crawling units 4 are used, if one or two crawling units 4 are out of contact with the tank outer wall if the outer wall of the tank is concave, at this time Under the action of the other crawling unit 4 being in stable contact with the outer wall of the tank, the stable and smooth movement of the entire wall-climbing robot can still be guaranteed, and the wall-climbing robot can smoothly pass through the concave area smoothly.

In addition, for the control of each motor and measuring device, both wire transmission control and wireless signal control can be used according to the actual situation.

Example 2

As shown in Figures 4 to 6, the structure of the double-layer track-type wall-climbing robot in Embodiment 2 is basically the same as that of the double-layer track-type wall-climbing robot in Embodiment 1. The adjustable crawling unit 7, that is, the size of the ring formed by all the crawling wheel sets in the crawling unit 7 is adjustable, so that it can be used for measuring more tanks with different outer diameters.

The crawling unit 7 includes a crawling motor set 71 and a crawling wheel set 72, and at this time, the cross section of the lower side rail 2 is an L-shaped structure, including side rails 22 arranged vertically. Wherein, the crawling wheel set 72 is fixedly installed on the side rail 22 of the lower side rail 2, and is located on the annular surface close to the tank body.

The crawler motor unit 71 includes a crawler motor 711 and a driving pulley 712 . The crawling motor 711 and the driving pulley 712 are fixedly connected to the side rail 22 at the same time, and the output shaft of the crawling motor 711 stretches out in the horizontal direction and is connected with the driving pulley 712 . Wherein, the driving pulley 712 is fixed on the side rail 22 through the first support 731 .

The crawling wheel set 72 includes a first connecting rod 721 , a second connecting rod 722 and a third connecting rod 723 . Wherein, one end of the first connecting rod 721 is fixedly connected to the side rail 22 through the second support 732, and the other end is hingedly connected to one end of the second connecting rod 722, and between the first connecting rod 721 and the second support 732 For hinge connection. The other end of the second connecting rod 722 is hingedly connected with the middle position of the third connecting rod 723 . One end of the third link 723 is fixedly connected to the side rail 22 through the third support 733 , and the other end is vertically fixedly connected to the shaft sleeve 724 , and the third link 723 is hinged to the third support 733 . The shaft sleeve 724 is a hollow structure, and the transmission shaft connected with the wheel 725 is pierced inside. The transmission shaft and the shaft sleeve 724 are supported and fixed by bearings, and a driven pulley 74 is provided on the transmission shaft.

Simultaneously, a transmission belt 75 is provided between the driving pulley 712 and the driven pulley 74, so that the wheels 725 can rotate in forward and reverse directions under the drive of the creeping motor 711.

Preferably, a handle bar 726 is also provided in the crawling wheel set 72 . The integral structure of the handle rod 726 and the first connecting rod 721 is a V-shaped structure, and the connecting position of the two is hinged to the second support 732 . In this way, by pushing the handle bar 726, the first connecting rod 721 can be driven to move, and then the position of the wheels 725 can be adjusted through the second connecting rod 722 and the third connecting rod 723, and the diameter of the circle formed by all the wheels 725 can be changed, thereby realizing the same The contact of the outer wall of tanks with different outer diameters.

Wherein, in this embodiment, a plurality of positioning holes distributed along the circumferential direction are provided on the second support 732 , and a positioning hole is also provided at the end of the handle rod 726 . In this way, the rotation position of the handle rod 726 can be fixed by the positioning pin passing through the two positioning holes at the same time, thereby fixing the position of the wheel 725 . Similarly, in other embodiments, other structures can also be used to fix the position of the wheel 725, for example, a zipper is set between the first link 721 and the side rail 22, and the length of the zipper controls the length of the first link 721. The position is fixed, and then the position of the wheel 725 is fixed.

Preferably, the crawler motor unit 71 is connected to the side rail 22 by sliding. Wherein, on the side rail 22, there are two slide grooves 221 arranged in parallel in the vertical direction, which are used to respectively install the support base of the crawler motor 711 and the first bearing 731, and at the same time, the support base of the crawler motor 711 and the first bearing 731 A locking screw is also provided on the support 731 . At this time, the support seat of the crawler motor 711 and the first bearing 731 can adjust the fixed position in the vertical direction along the chute 221 to change the positions of the crawler motor 711 and the driving pulley 712 on the side rail 22 .

In this way, when the position of the wheel 725 changes, that is, when the distance between the driving pulley 712 and the driven pulley 74 changes, by adjusting the positions of the creeping motor 711 and the driving pulley 712 along the chute 221, the pull of the conveyor belt 75 can be made. The degree of tightness remains stable and moderate, thereby ensuring that the crawler motor 711 drives the wheels 725 to rotate stably.

Further preferably, a push rod 727 is provided between the first support 731 and the third connecting rod 723, and both ends of the push rod 727 are hinged. In this way, the push rod 727 can assist the first support 731 to drive the third link 723 to adjust the position, and the fixed first support 731 can also be used to assist in fixing the third link 723 .

In addition, as shown in FIG. 5 and FIG. 6, a buffer unit 76 is also provided in the crawler wheel set 72, wherein one end of the buffer unit 76 is connected to the side rail 22, and the other end is connected to the third connecting rod 723 for The three-link 723 acts as a buffer when swinging downwards, preventing the large inertial force produced by the wheels 725 from causing damage to the entire wall-climbing robot.

In this embodiment, the buffer unit 76 adopts a spring structure, including a shock absorbing spring 761 and a shock absorbing spring support 762 . Wherein, one end of the damping spring 761 is hingedly connected with the third connecting rod 723 , and the other end is hingedly connected with the damping spring support 762 , and the damping spring support 762 is fixed on the side rail 22 .

In addition, the third connecting rod 723 can also adopt an adjustable split structure, that is, it can be adjusted in its own length direction. As shown in FIG. 7 , the third connecting rod 723 is divided into a body 7231 and an assembly 7232 , which are connected by a spring 7235 . Wherein, the end of the body 7231 is provided with an axial hole for inserting the assembly 7231, and the body 7231 and the assembly 7232 can reciprocate and slide relative to each other in the axial direction. A spring seat 7233 and a second spring seat 7234. The spring 7235 is sleeved on the body 7231 and the assembly 7232, and both ends are fixedly connected to the first spring seat 7233 and the second spring seat 7234 respectively.

In this way, by using the adjustability of the third connecting rod 723 along the length direction, not only can the diameter of the ring formed by all the wheels 725 be appropriately reduced during installation, but also the wheels 725 can be pressed against the outer wall of the tank by means of the spring 7235 In addition, the contact stability between the wheel 725 and the outer wall of the tank can be increased, and the automatic crossing of obstacles can be realized during the crawling process of the whole wall-climbing robot, that is, the compression of the spring 7235 can overcome the obstacles in the outer wall of the tank. The local raised area improves the working ability of the wall-climbing robot.

In addition, two sets of crawling wheel sets 72 are provided in this embodiment, and more crawling wheel sets 72 can also be set in other embodiments, thereby increasing the number of wheels 725 and increasing the contact area to the outer wall of the tank. Strengthen the stability of the entire wall-climbing robot crawling along the outer wall of the tank.

Claims (10)

1. A double-deck track type wall-climbing robot is characterized in that, comprises upper track, lower track, robot and at least three groups of crawling units; said crawling unit is connected with said lower track and distributed along the circumferential direction; wherein, The upper track is fixedly connected in parallel with the lower track, and the inner diameter of the upper track and the inner diameter of the lower track are larger than the outer wall diameter of the tank; The robot includes a base and a robot arm; the base is slidingly connected to the upper surface of the upper track, and can reciprocate along the upper track in a circumferential direction; one end of the robot arm is connected to the base, The other end is used to fix the measuring device; The crawling unit is an adjustable structure, including a crawling motor and an adjustable crawling wheel set; the crawling motor is fixedly connected to the lower track, the crawling wheel set is connected to the lower track, and all the crawling wheel sets point to The direction of the central axis of the lower track and the size of the circle surrounded by all crawling wheel sets are adjustable; the crawling wheel sets are driven by the crawling motor to rotate freely. 2. The double-layer track-type wall-climbing robot according to claim 1, wherein the upper track and the lower track are composed of a plurality of arc-shaped tracks spliced along the circumferential direction. 3. The double-layer track type wall-climbing robot according to claim 1, wherein the lower track is an L-shaped structure, wherein the vertical end is a side track; the crawling wheel set is connected with the side track, It includes a first connecting rod, a second connecting rod, a third connecting rod and a bushing; one end of the first connecting rod is hinged to the lower track, and the other end is hinged to one end of the second connecting rod, so The other end of the second connecting rod is hingedly connected to the middle position of the third connecting rod; one end of the third connecting rod is hingedly connected to the lower track, and the other end is connected to the bushing; the bushing It is a hollow structure, and a transmission shaft is provided inside, and the transmission shaft is connected with the bushing through a bearing; the end of the transmission shaft is provided with a wheel, and the middle position of the transmission shaft is connected to the crawler motor. output shaft connection. 4. The double-layer track-type wall-climbing robot according to claim 3, wherein the crawling motor is slidably and fixedly connected to the side rail along the vertical direction. 5. The double-deck track-type wall-climbing robot according to claim 3, wherein the crawling wheel set also includes a buffer unit, and one end of the buffer unit is hinged to the middle position of the third connecting rod, The other end is hingedly connected to the side rail. 6. The double-layer rail-type wall-climbing robot according to any one of claims 3-5, wherein the third connecting rod is a split structure, comprising a body, an assembly and a spring; the body and The combination is plugged and connected in the axial direction, the body and the combination are respectively provided with a spring seat; the spring is sleeved outside the body and the combination and connected with the spring seat. 7. The double-deck track type wall-climbing robot according to claim 1, wherein the upper surface of the upper track is provided with a track groove, and the base is provided with a wheel driven by a motor; In the track groove, and can reciprocate along the track groove. 8. The double-deck track-type wall-climbing robot according to claim 1, characterized in that, the robot also includes multiple groups of clamping units, and the clamping units include brake shoes and clamping motors; the clamping motors and The lower track is fixedly connected, the brake shoe is connected to the output shaft of the clamping motor, and is driven by the clamping motor to reciprocate along the diameter direction of the lower track. 9. The double-deck track type wall-climbing robot according to claim 1, wherein, the upper track is connected to the lower track by a support rod, and the support rod is connected to the upper track and the lower track. The lower tracks are all detachable connections. 10. The double-layer track-type wall-climbing robot according to claim 9, wherein the support rod adopts a double-threaded structure, and after the support rod is threaded with the upper track and the lower track Secured in position by means of nuts.