CN108562644B - Intelligent detection device and detection method for storage tank top plate - Google Patents
Intelligent detection device and detection method for storage tank top plate Download PDFInfo
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- CN108562644B CN108562644B CN201810393631.2A CN201810393631A CN108562644B CN 108562644 B CN108562644 B CN 108562644B CN 201810393631 A CN201810393631 A CN 201810393631A CN 108562644 B CN108562644 B CN 108562644B
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- 238000001514 detection method Methods 0.000 title claims abstract description 72
- 238000013016 damping Methods 0.000 claims abstract description 60
- 239000003973 paint Substances 0.000 claims abstract description 52
- 230000007547 defect Effects 0.000 claims abstract description 29
- 238000005507 spraying Methods 0.000 claims abstract description 28
- 230000009193 crawling Effects 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 claims abstract description 7
- 238000010168 coupling process Methods 0.000 claims abstract description 7
- 238000005859 coupling reaction Methods 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 240000005002 Erythronium dens canis Species 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 abstract description 18
- 238000009434 installation Methods 0.000 abstract description 10
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 description 8
- 239000007789 gas Substances 0.000 description 8
- 238000010422 painting Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- ISWSIDIOOBJBQZ-UHFFFAOYSA-N Phenol Chemical compound OC1=CC=CC=C1 ISWSIDIOOBJBQZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- UBAZGMLMVVQSCD-UHFFFAOYSA-N carbon dioxide;molecular oxygen Chemical compound O=O.O=C=O UBAZGMLMVVQSCD-UHFFFAOYSA-N 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 239000007822 coupling agent Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- 239000002341 toxic gas Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/048—Marking the faulty objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/28—Details, e.g. general constructional or apparatus details providing acoustic coupling, e.g. water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/32—Arrangements for suppressing undesired influences, e.g. temperature or pressure variations, compensating for signal noise
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/10—Number of transducers
- G01N2291/106—Number of transducers one or more transducer arrays
Abstract
The invention relates to an intelligent detection device and a detection method for a storage tank top plate, wherein the intelligent detection device for the storage tank top plate comprises a detection trolley and a defect paint spraying marking device, the barrier system is kept away to laser, information transfer system, the installation crawler-type mechanism of crawling of detection dolly chassis both sides, sensor receive and releases the controller and connect electric putter, electric putter connects the vertical pole that T type receive and releases the piece, the upper end connecting rod of T type receive and releases a vertical pole, T type receive and releases a horizontal pole and connects the toper piece, toper piece lower extreme and shock attenuation board fixed connection, damping spring one end and sensor mount pad fixed connection, the damping spring other end and shock attenuation board fixed connection, roll formula phased array ultrasonic sensor and distance encoder install on the sensor mount pad, roll formula phased array ultrasonic sensor the place ahead installation automatic coupling structure, the mark device that sprays paint is located roll formula phased array ultrasonic sensor's dead astern. The invention can mark the defects after detecting the defects, thereby facilitating the subsequent reinspection.
Description
Technical Field
The invention relates to the technical field of tank top nondestructive detection, in particular to an intelligent detection device for a storage tank top plate and a detection method thereof.
Background
In the related field of nondestructive testing of storage tanks, the corrosion phenomenon of the inner top of the storage tank can be caused because a gas layer between the liquid level and the inner top of the storage tank contains components of water vapor, oxygen, carbon dioxide and volatile phenol in long-term service of the storage tank top. The in-service nondestructive detection of the storage tank top plate is very critical, and how to detect the tank top and ensure the safety of detection personnel is a great problem to people. The conventional detection method is that detection personnel usually climb to the tank top to detect, the danger of the detection method is very high, the detection personnel need to take a plurality of protective measures to prevent the heavy tank top from falling, great inconvenience is brought to detection, and when the tank top is moved by people, the tank top is easy to dent, so that the storage tank is irreversibly deformed, and the structural integrity of the storage tank is damaged.
Disclosure of Invention
The invention aims to provide an intelligent detection device for a storage tank top plate, which is used for solving the problem that detection personnel are unsafe when manually climbing a tank to detect and simultaneously solving the problem of protecting the integrity of a storage tank; the invention further aims to provide a detection method of the intelligent storage tank top plate detection device.
The technical scheme adopted by the invention for solving the technical problems is as follows: the intelligent detection device for the top plate of the storage tank comprises a detection trolley, a defect paint spraying marking device, a laser obstacle avoidance system and an information transmission system, wherein the detection trolley is provided with a shell on a chassis, crawler-type crawling mechanisms are arranged on two sides of the chassis, and each crawler-type crawling mechanism is provided with a crawling driving motor, an anti-skidding damping crawler and a damping crawler wheel; the laser obstacle avoidance system is arranged at the top of the shell and used for transmitting and receiving laser to detect obstacles in an area with the radius of 5m and automatically planning a walking route, and the laser obstacle avoidance system is connected with the crawling controller; an electric push rod is installed below a chassis, a sensor retraction controller is connected with the electric push rod, the electric push rod is connected with a longitudinal rod of a T-shaped retraction part, the upper end of the longitudinal rod of the T-shaped retraction part is connected with a connecting rod, the other end of the connecting rod is hinged with the chassis, a transverse rod of the T-shaped retraction part is provided with an annular groove, the upper end of a conical block is sleeved in the annular groove, the lower end of the conical block is fixedly connected with a damping plate, two sides of the damping plate are respectively provided with a side plate, each side plate is fixed on a sensor installation seat, each side plate is provided with an arc-shaped hole, the damping plate extends out of a connecting piece, a damping shaft is arranged between the connecting piece and the side plates, a damping spring is sleeved outside the damping shaft, one end of the damping spring is fixedly connected with the sensor installation seat, the other end of the damping spring is fixedly connected with the, the rolling type phased array ultrasonic sensor and the distance encoder are installed on the sensor installation seat, the automatic coupling structure is installed in front of the rolling type phased array ultrasonic sensor, and the paint spraying marking device is installed under the chassis and located right behind the rolling type phased array ultrasonic sensor.
The defect paint spraying marking device in the scheme comprises a protective shell and a paint spraying controller, wherein a paint sleeve is arranged in the protective shell, the head of the paint sleeve is connected with a spray head through threads, a piston push rod is installed inside the paint sleeve, the piston push rod is provided with convex teeth along the length direction of the piston push rod, a paint spraying driving motor is installed in the protective shell, the paint spraying driving motor is connected with a gear, the gear is meshed with the convex teeth, the protective shell is installed below a chassis through a flange plate at the end part of the protective shell, the paint spraying controller is connected with the paint spraying driving motor, and the piston push rod is driven by the; the time difference of the painting device and the sensor is marked due to the installation distance, and the distance is recorded by an encoder installed on the sensor and uploaded to a processor for calculating the time difference.
In the scheme, the outer shell is made of an aluminum alloy material, so that the strength of the material can be ensured, external impact is prevented, the overall mass of the device can be reduced, and the device is convenient to transport to the top of the tank; the shell top installation surveys the camera for will shoot tank deck image and go out with it.
The information transmission system in the above scheme comprises WiFi signal receiving and dispatching antenna and signal processing instrument, and the shell top is arranged in to WiFi signal receiving and dispatching antenna, and signal processing instrument installs inside the shell, and signal processing instrument can feed back detection personnel's operation to detection device to can transmit behind the information processing among the detection device in detection personnel's hand.
In the scheme, the combustible gas alarm is arranged at the top of the outer shell and protected by the shell, and the shell is provided with the small hole, so that the combustible gas alarm can detect gas at the top of the tank, and a fire early warning function is achieved.
The front end of the chassis in the scheme is provided with a night illuminating lamp.
In the scheme, the anti-skid damping crawler belt is made of rubber and is driven by the damping crawler wheel, the damping crawler wheel comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are both mounted on the wheel carrier, the three driving wheels are mounted on the upper portion of the wheel carrier, and the seven driven wheels with damping springs are mounted on the lower portion of the wheel carrier side by side.
In the scheme, the electric push rod is fixedly connected with the elbow, and the elbow is fixed below the chassis.
The detection method of the intelligent detection device for the storage tank roof comprises the following steps:
the crawling driving motor firstly drives the damping crawler wheels to move so as to drive the anti-skidding damping crawler to move, meanwhile, the laser obstacle avoidance system starts to scan the surrounding environment of the tank top and plans a traveling route, after the planning is finished, the rolling type phased array ultrasonic sensor is put down and starts to detect, when a defect is detected, the crawling mechanism walks forwards for a certain distance, and when the defect paint spraying marking device 9 is positioned above the defect, the marking is carried out; after the detection is finished, the signal is transmitted to a control center near the detection personnel through a WiFi signal transceiving antenna.
The invention has the following beneficial effects:
1. the intelligent detection device avoids the detection personnel from manually climbing to the tank top for detection, and the intelligent detection device is placed on the tank top of the storage tank through the unmanned aerial vehicle. The device can keep away barrier system intelligence planning route through the laser to carry out no dead angle to the tank deck and detect, and can make detection personnel can control detection device and receive the detected signal through the wiFi module, can guarantee detection personnel's personal safety and the structural integrity of storage tank like this.
2. The crawler belt of the walking structure is made of rubber, so that the phenomenon of slipping during walking can be prevented, and meanwhile, the crawler wheel has a damping function, so that the device can stably walk through a welding seam area.
3. The rolling type phased array ultrasonic sensor is additionally provided with the damping structure, and the roller of the sensor can stably pass through the welding seam. Meanwhile, the upper part of the sensor and the device chassis are provided with the retracting devices, so that the sensor roller can be retracted when not in use, and the loss of the sensor is reduced.
4. According to the invention, the automatic paint spraying marking device is arranged behind the rolling type phased array ultrasonic sensor, so that the defects can be marked after the defects are detected, and the subsequent recheck is convenient.
5. The top of the invention is also provided with a combustible gas alarm which can accurately detect CO and H2S and other combustible and toxic gases, so that the leakage of the storage tank can be detected. Meanwhile, a night lighting device is arranged in front of the device, so that the device can work normally at night.
Drawings
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a bottom schematic view of the present invention;
FIG. 3 is a schematic view of a rolling phased array ultrasonic sensor mounting structure according to the present invention;
FIG. 4 is an enlarged view of a portion of the shock absorbing structure of the rolling phased array ultrasonic sensor of FIG. 3;
FIG. 5 is a perspective view of a defective spray marking apparatus of the present invention;
FIG. 6 is an enlarged view of the internal structure of the defective painting marking apparatus of FIG. 5;
FIG. 7 is a schematic view showing the connection relationship between the piston rod and the paint driving motor according to the present invention.
In the figure: 1. antiskid shock attenuation track, 2, shock attenuation athey wheel, 3, roll formula phased array ultrasonic sensor, 4, night light, 5, shell, 6, detection camera, 7, laser obstacle avoidance system, 8, wiFi signal transceiver antenna, 9, defect mark device that sprays paint, 10, the driving motor that crawls, 11, the shock attenuation board, 12, distance encoder, 13, sensor automatic coupling device, 14, the sensor mount pad, 15, electric putter, 16, damping spring, 17, the arc hole, 18, the protective housing, 19, the shower nozzle, 20, the driving motor that sprays paint, 21, paint sleeve pipe, 22, piston rod, 23 dogtooth, 24 gear, 25 connecting rods, 26T type receiving and releasing spare, 27 conical blocks, 28 crawl controller.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
with reference to fig. 1, 2, 3, 4, 5, 6 and 7, the intelligent detection device for the top plate of the storage tank comprises a detection trolley, a defect painting marking device 9, a laser obstacle avoidance system 7 and an information transmission system, wherein the detection trolley is composed of a chassis on which a shell 5 is arranged, and crawler-type crawling mechanisms are mounted on two sides of the chassis and provided with a crawling driving motor 10, an anti-skidding damping crawler 1 and a damping crawler wheel 2; the laser obstacle avoidance system 7 is arranged at the top of the shell 5 and used for transmitting and receiving laser to detect obstacles in an area with a radius of 5m and automatically planning a walking route, the laser obstacle avoidance system 7 is connected with the crawling controller 28, the crawling controller 28 receives signals of the laser obstacle avoidance system 7, and the crawling controller 28 controls the crawling driving motor 10 to drive the crawler-type crawling mechanism to crawl; the combustible gas alarm is installed at the top of the shell 5 and protected by the shell, and a small hole is reserved in the shell, so that the combustible gas alarm can detect gas on the top of the tank, and a fire early warning function is achieved. The night illuminating lamp 4 is arranged at the front end of the chassis, so that the situation of the tank top can be observed at night in real time.
The antiskid and damping crawler belt 1 is made of rubber, the antiskid and damping crawler belt 1 is driven by the damping crawler wheel 2, the damping crawler wheel 2 comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are both mounted on a wheel carrier, the upper portion of the wheel carrier is provided with three driving wheels, and the lower portion of the wheel carrier is provided with seven driven wheels with damping springs 16 side by side.
The shell 5 is made of aluminum alloy materials, so that the strength of the materials can be ensured, external impact is prevented, the overall mass of the device can be reduced, and the device is convenient to transport to a tank top; the installation of 5 tops of shell is surveyed camera 6, surveys camera 6 and has 180 angle modulation function for will shoot tank deck image and transmit away it, can real time monitoring tank deck condition and transmit back control center.
The laser obstacle avoidance system 7 is installed on the upper portion of the shell 5, and a scanning device of the laser obstacle avoidance system can emit and receive laser to detect obstacles in an area with a radius of 5m and automatically plan an optimal walking route. The laser obstacle avoidance system 7 is a commercially available finished product.
Referring to fig. 3 and 4, a sensor retracting device is arranged below the chassis, the sensor retracting device comprises an electric push rod 15, a sensor retracting controller is connected with the electric push rod 15, the electric push rod 15 is fixedly connected with an elbow, the elbow is fixed below the chassis, the electric push rod 15 is connected with a longitudinal rod of a T-shaped retracting part 26, the upper end of the longitudinal rod of the T-shaped retracting part 26 is connected with a connecting rod 25, the other end of the connecting rod 25 is hinged with the chassis, a transverse rod of the T-shaped retracting part 26 is provided with a ring groove, the upper end of a conical block 27 is sleeved in the ring groove, the lower end of the conical block 27 is fixedly connected with a damping; the sensor shock absorption structure comprises a shock absorption plate 11, a shock absorption spring 16 and a shock absorption shaft, wherein two sides of the shock absorption plate 11 are respectively provided with a side plate, each side plate is fixed on a sensor mounting seat 14 and is provided with an arc-shaped hole 17, the shock absorption plate 11 extends out of a connecting piece, a damping shaft is arranged between the connecting piece and the side plate, a damping spring 16 is sleeved outside the damping shaft, one end of the damping spring 16 is fixedly connected with the sensor mounting seat 14, the other end of the damping spring 16 is fixedly connected with the damping plate 11, the damping plate 11 extends out of two damping hooks, each damping hook is inserted into an arc-shaped hole 17 of the corresponding side plate, the hook cap of each shock absorption hook is propped against the outer side of the arc-shaped hole 17, the rolling type phased array ultrasonic sensor 3 and the distance encoder 12 are installed on the sensor installation seat 14, the automatic coupling structure is installed in front of the rolling type phased array ultrasonic sensor 3, and the paint spraying marking device is installed below the chassis and located right behind the rolling type phased array ultrasonic sensor 3. The rolling type phased array ultrasonic sensor 3 has a roller structure called a sensor roller, and the sensor roller is in contact with the surface of a tank top plate when working and can receive sound waves emitted by the sensor roller; an automatic coupling structure is arranged in front of the roller to ensure that the roller is always provided with a coupling agent; a shock absorption structure is added between the sensor mounting seat 14 and the connecting rod 25, so that the sensor is prevented from bumping to cause structural damage.
The rolling type phased array ultrasonic sensor 3 starts to work after the laser obstacle avoidance system 7 plans an optimal path, firstly, an electric push rod 15 in a sensor retraction structure extends to enable the sensor to integrally descend, and the rolling type phased array ultrasonic sensor stops when a sensor roller 14 is in contact with a tank top plate; the automatic coupling device 13 of the sensor in front of the sensor roller is filled with the couplant, a section of sponge extending out of the couplant box body is contacted with the roller, the couplant in the couplant box body is guided to the sensor roller and can be uniformly coated; when the shock absorbing spring 16 in the shock absorbing structure of the sensor is pressed when the shock absorbing structure encounters a protruding obstacle such as a weld, the shock absorbing hook slides along the arc-shaped hole 17, so that the sensor roller 14 is lifted upward and can smoothly pass over the protruding obstacle.
When the sensor roller 14 rolls, the distance encoder 12 records the traveling displacement and time of the sensor roller 14 and uploads the traveling speed to the processor to calculate the traveling speed of the device, and further calculates the time of the defect paint spraying and marking device 9 moving to the defect, so that the accuracy of defect marking can be improved.
Referring to fig. 5, 6 and 7, the defect paint spraying marking device comprises a protective shell 18 and a paint spraying controller, wherein a paint sleeve 21 is arranged in the protective shell 18, the head of the paint sleeve 16 is connected with a spray head 19 through threads, a piston push rod 22 is arranged in the paint sleeve 16, a convex tooth 23 is arranged on the piston push rod 22 along the length direction of the piston push rod 22, a paint spraying driving motor 20 is arranged in the protective shell 18, the paint spraying driving motor 20 is connected with a gear 24, the gear 24 is meshed with the convex tooth, the protective shell 18 is arranged under a chassis through a flange plate at the end part of the protective shell, the paint spraying controller is connected with the paint spraying driving motor 20, and the piston push rod 22 is driven; the time difference of the painting device and the sensor is marked due to the installation distance, and the distance is recorded by an encoder installed on the sensor and uploaded to a processor for calculating the time difference.
The defect painting marking device 9 starts to work when the rolling type phased array ultrasonic sensor 3 detects a defect. A certain amount of paint is filled in the paint spraying sleeve 21, when marking is started, the paint spraying driving motor in the protective shell 18 starts to rotate, the piston push rod 22 is driven to move downwards through meshing of the gear 24, the volume of the marked paint is compressed, the marked paint is sprayed out from the spray head to the position near a defect, and the paint can be conveniently rechecked by a tester.
The paint spraying sleeve 21 can contain about 150ml of paint, can mark more than 20 defects, reduces repeated replacement and improves the working stability of the device.
The information transmission system comprises a WiFi signal receiving and transmitting antenna 8 and a signal processing instrument, the WiFi signal receiving and transmitting antenna 8 is arranged at the top of the shell, the signal processing instrument is installed inside the shell, the signal processing instrument can feed back the operation of a detection person to the detection device, and the information in the detection device can be processed and then transmitted to the hand of the detection person.
When the device works, a crawling driving motor 10 firstly drives a damping crawler wheel 2 to move, further drives an anti-skidding damping crawler 1 to move, so that the detection device starts to walk, meanwhile, a laser obstacle avoidance system 7 starts to scan the surrounding environment of a tank top, a trip walking line is planned, after the planning is finished, a rolling type phased array ultrasonic sensor 3 is put down and starts to detect, and when a defect is detected, the device can walk forwards for a certain distance, so that a defect paint spraying marking device 9 is positioned above the defect to mark; after the detection is finished, the signal is transmitted to a control center near the detection personnel through the WiFi signal transceiving antenna 8.
Claims (8)
1. The utility model provides a storage tank roof board intellectual detection system device which characterized in that: the intelligent detection device for the top plate of the storage tank comprises a detection trolley, a defect paint spraying marking device (9), a laser obstacle avoidance system (7) and an information transmission system, wherein the detection trolley is composed of a chassis on which a shell (5) is arranged, and crawler-type crawling mechanisms are installed on two sides of the chassis and are provided with crawling driving motors, anti-skidding damping tracks (1) and damping track wheels (2); the laser obstacle avoidance system (7) is arranged at the top of the shell (5) and used for transmitting and receiving laser to detect obstacles in an area with the radius of 5m and automatically planning a walking route; an electric push rod (15) is installed below a chassis, a sensor retraction controller is connected with the electric push rod (15), the electric push rod (15) is connected with a longitudinal rod of a T-shaped retraction part (26), the upper end of the longitudinal rod of the T-shaped retraction part (26) is connected with a connecting rod, the other end of the connecting rod (25) is hinged with the chassis, a cross rod of the T-shaped retraction part (26) is provided with a ring groove, the upper end of a conical block (27) is sleeved in the ring groove, the lower end of the conical block (27) is fixedly connected with a damping plate (11), two sides of the damping plate (11) are respectively provided with a side plate, each side plate is fixed on a sensor mounting seat (14), each side plate is provided with an arc-shaped hole (17), the damping plate (11) extends out of a connecting piece, a damping shaft is arranged between the connecting piece and the side plates, the damping spring (16) is sleeved outside the damping shaft, one end of the damping spring (16), the damping plate (11) extends out of two damping hooks, each damping hook is inserted into an arc-shaped hole (17) of a corresponding side plate, a hook cap of each damping hook is propped against the outer side of the arc-shaped hole (17), the rolling type phased array ultrasonic sensor (3) and the distance encoder (12) are arranged on the sensor mounting seat (14), the rolling type phased array ultrasonic sensor (3) is provided with a roller structure which is called a sensor roller, an automatic coupling structure is arranged in front of the roller to ensure that a couplant is always arranged on the roller, and the defect paint spraying marking device is arranged below the chassis and is positioned right behind the rolling type phased array ultrasonic sensor (3);
defect mark device (9) that sprays paint include protective housing (18), the controller sprays paint, set up paint sleeve pipe (21) in protective housing (18), paint sleeve pipe (21) head meets through screw thread and shower nozzle (19), paint sleeve pipe (21) internally mounted piston push rod (22), piston push rod (22) set up dogtooth (23) along its length direction, install in protective housing (18) paint driving motor (20), paint driving motor (20) connection gear (24), gear (24) and dogtooth (23) meshing, protective housing (18) are installed under the chassis through the ring flange of its tip, paint driving motor (20) of spraying paint are connected to the controller of spraying paint.
2. The intelligent detection device for the roof of the storage tank, according to claim 1, is characterized in that: the shell (5) is made of aluminum alloy materials, and the top of the shell (5) is provided with a detection camera (6).
3. The intelligent detection device for the roof of the storage tank as recited in claim 2, wherein: the information transmission system is composed of a WiFi signal receiving and transmitting antenna (8) and a signal processing instrument, the WiFi signal receiving and transmitting antenna (8) is arranged at the top of the shell (5), the signal processing instrument is installed inside the shell (5), the signal processing instrument feeds back the operation of a detection person to the detection device, and the information in the detection device is processed and then transmitted to the detection person.
4. The intelligent detection device for the roof of the storage tank as recited in claim 3, wherein: the top of the shell (5) is provided with a combustible gas alarm which is protected by a shell, and a small hole is reserved on the shell.
5. The intelligent detection device for the roof of the storage tank, according to claim 4, is characterized in that: the front end of the chassis is provided with a night illuminating lamp (4).
6. The intelligent detection device for the roof of the storage tank, according to claim 5, is characterized in that: the antiskid and damping crawler belt (1) is made of rubber, the antiskid and damping crawler belt (1) is driven by the damping crawler wheel (2), the damping crawler wheel (2) comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are both mounted on a wheel carrier, the upper portion of the wheel carrier is provided with three driving wheels, and the lower portion of the wheel carrier is provided with seven driven wheels with damping springs side by side.
7. The intelligent detection device for the roof of the storage tank, according to claim 6, is characterized in that: the electric push rod (15) is fixedly connected with the elbow, and the elbow is fixed below the chassis.
8. The detection method of the intelligent detection device for the roof of the storage tank as claimed in claim 7, characterized in that:
the crawling driving motor (10) firstly drives the damping crawler wheels (2) to move so as to drive the anti-skidding damping crawler (1) to move, meanwhile, the laser obstacle avoidance system (7) starts to scan the surrounding environment of the tank top, a traveling route is planned, after the planning is finished, the rolling type phased array ultrasonic sensor (3) is put down to start detection, and when a defect is detected, the crawler crawling mechanism walks forwards for a distance to enable the defect paint spraying marking device (9) to be located above the defect for marking; after the detection is finished, the signal is transmitted to a control center near the detection personnel through a WiFi signal transceiving antenna (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810393631.2A CN108562644B (en) | 2018-04-27 | 2018-04-27 | Intelligent detection device and detection method for storage tank top plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109212028B (en) * | 2018-10-08 | 2021-03-16 | 四川升拓检测技术股份有限公司 | Crawler-type sound insulation device suitable for impact echo audio frequency detection |
| CN110243863B (en) * | 2019-07-09 | 2020-12-25 | 苏交科集团股份有限公司 | Active excitation infrared intelligent detection system and method for weld defects |
| CN110554050B (en) * | 2019-09-25 | 2022-02-22 | 中国核动力研究设计院 | Screw hole thread inspection device and screw hole thread inspection method for video camera image acquisition |
| CN110779659A (en) * | 2019-12-04 | 2020-02-11 | 山东建标技术试验检测有限公司 | Automatic-marking device and method for detecting damage and leakage of impermeable layer of refuse landfill |
| CN110977922B (en) * | 2019-12-11 | 2020-08-25 | 东北石油大学 | Attached pipeline outer wall crawler attachment of self-adaptation |
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| CN102175211B (en) * | 2010-12-24 | 2012-08-22 | 北京控制工程研究所 | Barrier position determining method based on lattice structured light |
| CN103760236A (en) * | 2014-01-08 | 2014-04-30 | 华南理工大学 | Double-track crawler-type steel rail flaw detection device and frequency-conversion flaw detection method thereof |
| US10012561B2 (en) * | 2014-11-03 | 2018-07-03 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
| CN104330479B (en) * | 2014-11-27 | 2017-01-25 | 长沙理工大学 | Ultrasonic phased array automatic scanning device used for large-size curved-surface component |
| CN105158337B (en) * | 2015-10-18 | 2018-03-20 | 张庚瀚 | Based on the storage tank bottom plate weld seam automatic tester being wirelessly transferred |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN105911144A (en) * | 2016-05-17 | 2016-08-31 | 上海卫星装备研究所 | Device and method for detecting carbon fiber composite material truss bonding defects by ultrasonic phased array |
| CN206609828U (en) * | 2017-03-19 | 2017-11-03 | 无锡市鑫涌管业有限公司 | A kind of welded tube mill automatic inspection equipment |
| CN107335227B (en) * | 2017-08-14 | 2020-04-07 | 河海大学常州校区 | Obstacle avoidance steering device based on laser radar, working method and carbon-free trolley |
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