CN108982662A - The automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion - Google Patents
The automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion Download PDFInfo
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- CN108982662A CN108982662A CN201810655970.3A CN201810655970A CN108982662A CN 108982662 A CN108982662 A CN 108982662A CN 201810655970 A CN201810655970 A CN 201810655970A CN 108982662 A CN108982662 A CN 108982662A
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- 238000007654 immersion Methods 0.000 title claims abstract description 48
- 230000007797 corrosion Effects 0.000 title claims abstract description 34
- 238000005260 corrosion Methods 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 239000007788 liquid Substances 0.000 claims abstract description 17
- 230000000977 initiatory effect Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 35
- 230000003068 static effect Effects 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000007667 floating Methods 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 6
- 238000004064 recycling Methods 0.000 claims description 5
- 210000003205 muscle Anatomy 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 239000004753 textile Substances 0.000 claims description 4
- 238000003491 array Methods 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000003628 erosive effect Effects 0.000 claims 1
- 238000011084 recovery Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 238000007789 sealing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000010779 crude oil Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000000805 composite resin Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
- 238000009423 ventilation Methods 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
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Abstract
The present invention relates to the automatic acoustics detectors of large-scale storage tank Corrosion of base plate immersion, it includes body, walking mechanism, tele-control system, positioning system, immersion acoustic sensor, recyclable device, driving wheel is mounted on body two sides, recyclable device is arranged in the outside of each driving wheel, and recyclable device includes timing initiating mechanism, liquid CO2Gas cylinder, air bag, air bag are placed in air bag slot, and air bag grooved ring is wound on outside seal box, timing initiating mechanism and liquid CO2Gas cylinder is placed in seal box, and the timer connection of timing initiating mechanism causes motor, causes the output shaft of motor with gear, and gear connects rack gear needle, and the air inlet pipe of air bag connects threeway, liquid CO2Seal is arranged in the outlet of gas cylinder, and seal is extend into a mouth of threeway, and rack gear needle is extend into threeway from another mouth of threeway, and rack gear needle is directed toward seal.The present invention can dive into tank bottom, carry out on-line checking to tank bottom, then return to tank deck recovery point by air bag.
Description
Technical field
The present invention relates to large-scale storage tank Corrosion of base plate detection devices, and in particular to large-scale storage tank Corrosion of base plate immersion is automatic
Acoustic detection instrument.
Background technique
Storage tank is the capital equipment of oil reserve in petrochemical industry, to meet social every profession and trade to the increasingly increased need of the energy
It asks, the direction of design towards enlargement, the centralization of petroleum storage tank is developed.Large-scale storage tank tens meters of diameter easily, to storing up
Several acoustic sensors are evenly distributed on tank wall plate circumferentially to receive traditional storage tank bottom plate corrosion sound of storage tank bottom plate corrosion acoustical signal
It learns detection technique and brings challenge.Since the floor space of large-scale storage tank is increased considerably compared to middle-size and small-size storage tank, so that traditional
Storage tank bottom plate corrosion acoustic detection technology can not obtain the corrosion sound letter of storage tank bottom plate central area in the detection of large-scale storage tank
Number, so that universe detection can not be carried out to large-scale storage tank bottom plate, lead to that accurate description cannot be provided to the corrosion condition of bottom plate.
Therefore, the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion is developed, realizes that inside of the large-scale storage tank with medium is examined online
It surveys, improves the valid analysing range of storage tank bottom plate, reducing manpower and material resources consumption is particularly important.
Summary of the invention
The object of the present invention is to provide the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion, this large-scale storage tank bottoms
The plate corrosion automatic acoustics detector of immersion is detected for solving traditional storage tank bottom plate corrosion acoustic detection technology in large-scale storage tank
In the problem of universe detection can not be carried out to bottom plate.
The technical solution adopted by the present invention to solve the technical problems is: this large-scale storage tank Corrosion of base plate immersion is automatic
Acoustic detection instrument includes body, walking mechanism, tele-control system, positioning system, immersion acoustic sensor, recyclable device,
Walking mechanism includes driving wheel, universal wheel, driving mechanism, and universal wheel is mounted on the front end of body, and driving wheel is mounted on body two
Side simultaneously uses differential steering, and recyclable device is arranged in the outside of each driving wheel, and recyclable device includes timing initiating mechanism, liquid
CO2Gas cylinder, air bag, air bag slot, seal box, air bag are the gas cell with gaseous core, air bag pass through elastic ring set with it is lockable solid
Determine shackle to be placed in air bag slot, air bag grooved ring is wound on outside seal box, timing initiating mechanism and liquid CO2Gas cylinder is placed in seal box
Interior, timing initiating mechanism includes timer, battery, causes motor, rack gear needle, and timer connection causes motor, causes motor
Output shaft has gear, and gear connects rack gear needle, and rack gear needle has diaphragm seal, and the air inlet pipe of air bag connects threeway, liquid CO2Gas
Seal is arranged in the outlet of bottle, and seal is extend into a mouth of threeway, and rack gear needle extend into three from another mouth of threeway
In logical, rack gear needle is directed toward seal；Immersion acoustic sensor is mounted on the chassis of body, and immersion acoustic sensor is believed
Number receiving plane is parallel with chassis；Tele-control system is separately connected driving motor and immersion acoustic sensor.
Body is made of shell and chassis, and contact seal is used between shell and chassis, is adopted between drive shaft and body
With power static seal, seal with O ring is used on immersion acoustic sensor and shell between gauge hole, seal box is using contact
Formula sealing, uses seal with O ring between air inlet pipe and threeway.
In above scheme there are four immersion acoustic sensors, this four sensors are evenly arranged on body chassis with " mouth " shape
On.
Driving wheel is octagon wheel in above scheme, and driving wheel center is outer rotor, is arranged between outer rotor and wheel frame
Eight spring struts, each driving wheel by outer rotor connect a drive shaft, drive axis connection driving motor, outer rotor with
Power static seal is used between drive shaft, power static seal is bonded by permanent magnetic coupling and housing；Take turns the circumferential direction of frame
One end of uniformly distributed eight spring spools, every spring strut is installed in spring spool, and the other end is fixed with wheel frame, and wheel frame has one
Layer is with the non-skid band for reinforcing anti-skidding muscle, to increase the contact area of wheel and bottom plate；By forever between outer rotor and drive shaft
Magnetic coupler is used in combination with housing, realizes that the automatic acoustics detector power of large-scale storage tank Corrosion of base plate immersion is quiet close
The permanent magnet coupling countermeasure for sealing transmission, solves the leakage problem of detector dynamic seal transmitting device in crude oil medium.
Above scheme medium-long range control system is located at internal body, including transmitting module, receiving module, controller, pressure stabilizing
Power supply, acoustic signal capture card, drive module, transmitting module use integrated coding chip, and receiving module uses coding chip, come
The input state for completing wireless telecommunications and control single chip computer, is controlled by controller according to the input state that receiving module provides
Processing, the control signal that last controller provides passes to walking mechanism, immersion acoustic sensor, to be respectively completed row
The various functions such as walk, turn to, detecting.
Positioning system is micro radio positioning system in above scheme, by positioning Wi-Fi chip, four wireless aps, service
Device composition；Positioning Wi-Fi chip is placed in inside the controller of tele-control system, and four wireless aps forming arrays are evenly arranged on storage tank
At four manholes of floating roof, server is placed in storage tank floating roof and connect with wireless aps, and in detector work, server is to detection
Instrument issues positioning or trace command, and detector passes through the number for acquiring each wireless aps (wireless signal access point) after receiving order
According to, and server is sent the data to, server determines detector by calibration algorithm according to the signal strength of fixed position
Position.
Air bag is made of the textile material of superpower tear-proof in above scheme, and balloon surface applies the painting of guaranteed air-tightness
Layer, this superpower pressure for making air bag be able to bear inflation moment prevent its tearing and gas leakage.
Positioning system and tele-control system cooperate in above scheme, and walking mechanism is made accurately to detect path according to planning
Walking, detection, run to collection site after the completion of detection, and collection site is corresponding at roof manhole, at collection site, when
The time of timer setting terminates, and timer causes motor rotation and with the movement of carry-over bar needle, punctures liquid CO2The sealing of gas cylinder
Mouthful, air bag is inflated and is opened, and drives the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion to float up at roof manhole, quilt
Recycling is returned.
The invention has the following advantages:
1, the detector for being loaded with acoustic sensor is slipped into tank bottom by the present invention, carries out on-line checking to tank bottom, in this way
In economic aspect since storage tank does not need to stop work, testing cost has been saved, has improved productivity effect；In context of detection, due to
Tank inside detection then reduces external interference, improves the sensitivity of detection and the reliability of monitoring and solves large-scale storage tank
The undetectable problem in bottom plate central area, so as to the corrosion damage feelings of the entire storage tank bottom plate of more accurate, effectively evaluating
Condition.
2, the present invention by drive wheel design be with eight spring struts and have annular trough octagon wheel, and
In wheel surface with one layer with the non-skid band for reinforcing anti-skidding muscle.Using for spring strut enables detector launching landing
When can effective damping avoid the damage of instrument；The design of wheel polygon and the use of non-skid band are to increase wheel and bottom
The contact area and coefficient of friction of plate, to guarantee that detector can smoothly walk.
3, the present invention allows the operator to the specific position in real time, accurately grasping detector by positioning system
It sets, and enables to the detector can be accurately according to planning detection path walking, inspection under the cooperation of tele-control system
Collection site is surveyed and runs to, so that improving the accuracy of tank bottom universe detection and reducing manual operation realizes automatically
Change.
4, recyclable device of the invention, firstly, it uses liquid CO2Expand gasification rapidly because of pressure change, this object
Principle is managed to carry out the recycling to detector, the method is since inflation medium is clean and gas replenishment process is endothermic process, no
Can the oil product in storage tank be polluted and be generated the generation by high temperature or the caused peril that leaks electricity；Secondly, air bag uses
The textile material and balloon surface of superpower tear-proof apply the coating of guaranteed air-tightness, this makes air bag be able to bear inflation wink
Between superpower pressure prevent its tear and gas leakage；Finally, due to the design of double bolloon Recycle network and air bag fixed form, so that
Two air bags can be firmly secured in two driving wheel air bag slots smoothly to will test instrument and send to tank deck recycling
Point.
5, the complete Seal Design of the present invention electrical insulating property excellent with good sealing performance and body material, prevents
Contact of the data line and electric wire of instrument internal with crude oil, so that the safety revealed and caused by power supply effectively be prevented to ask
Topic.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram on chassis in the present invention；
Fig. 3 is the structural schematic diagram of internal body in the present invention；
Fig. 4 is driving wheel left view in the present invention；
Fig. 5 is driving wheel right view in the present invention；
Fig. 6 is the structural schematic diagram of timing initiating device in the present invention；
Fig. 7 is the structural schematic diagram of protected type permanent magnetic coupling in the present invention.
In figure: 1- shell, 2- driving wheel, 3- recyclable device, the chassis 4-, 5- universal wheel, 6 immersion acoustic sensors, 7-
Drive shaft, 8- tele-control system, 9- air inlet pipe, 10- signal wire, 11- battery, 13- driving motor, 14- non-skid band, 15- bullet
Spring, 16- spring spool, 17 threeways, 18- air bag, 19- elasticity ring set and lockable stay hook, 20- air bag slot, 21- timing cause
Mechanism, 22- seal box, 23- seal ring piece, 24- air passage, 25- seal, 26- liquid CO2Gas cylinder, 27- timer, 28- draw
Generator, 29- rack gear needle, 30- outer magnet, 31- inner magnet, 32- outer rotor, 33- housing.
The present invention will be further described below with reference to the drawings:
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, this automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion includes body, walking
Mechanism, tele-control system 8, positioning system, immersion acoustic sensor 6, recyclable device 3, walking mechanism include driving wheel 2,
Universal wheel 5, driving mechanism, universal wheel 5 are mounted on the front end of body, and driving wheel 2 is mounted on body two sides and uses differential steering,
Two driving wheels 2 are mutually indepedent, and universal wheel 5 is used as driven wheel and front support, and detector relies on the rotational speed difference of two driving wheels 7
It realizes and turns to, to realize freely advancing for detecting instrument.Each driving wheel 2 passes through a driving mechanism driving, driving mechanism
It is set in the middle part of body, and by top closure, driving mechanism includes controller, driving motor 13, retarder, is realized to detection
The speed of instrument is controlled.Two pieces of rechargeable lithium battaries 11 are carried in body, provide power support for entire detector.It immerses
There are four formula acoustic sensors 6, this four sensors are evenly arranged on body chassis 4 with " mouth " shape, and immersion acoustic sensor 6
Signal receiving plane is parallel with chassis 4, and immersion acoustic sensor 6, signal wire 10, multichannel acoustics data acquisition card collectively form
Nondestructive detection system；Tele-control system 8 is separately connected driving motor 13 and immersion acoustic sensor 6；Body by shell 1 with
Chassis 4 is constituted, and contact seal is used between shell 1 and chassis 4, and power static seal is used between drive shaft 7 and body, is immersed
Seal with O ring is used on formula acoustic sensor 6 and shell 1 between gauge hole, seal box 22 uses contact seal, air inlet pipe
Seal with O ring is used between 9 and threeway 17.
Working principle of the present invention is as follows: the present invention is suitable for the online Acoustic detection in inside of large-scale storage tank Corrosion of base plate.
It will test instrument to be launched from storage tank floating roof manhole to the tank inside with medium up to tank bottom, positioning system is started to work and led to
The base station that locating module transmission positioning signal is sent at storage tank floating roof manhole is crossed, wireless transmission is realized and real-time update map is sat
The contents such as mark, it is accurate to grasp detector specific location；Tele-control system 8 according to positioning result control wheel steering steering engine and
Driving motor 13 starts to reach each test point progress Acoustic detection along planning path, when each test point detects one section
Between until complete Detection task.
Refering to Fig. 4, driving wheel 2 is octagon wheel, and 2 center of driving wheel is outer rotor 32, between outer rotor 32 and wheel frame
Eight spring struts are set, and each driving wheel 2 connects a drive shaft 7 by outer rotor 32, and drive shaft 7 connects driving motor
13, power static seal is used between outer rotor 32 and drive shaft 7, has inner magnet 31 in housing 33, there is outer magnetic outside housing 33
Body 30, refering to Fig. 7, power static seal is made of the combination (protected type permanent magnetic coupling) of permanent magnetic coupling and housing 33；Wheel
The circumferential direction of frame is evenly distributed with eight spring spools 16, and one end of every spring strut is installed in spring spool 16, and the other end and wheel frame are solid
It is fixed, the octagon wheel with annular trough, overcome detector launch when landing damping problem and detector when walking by
The problems such as storage tank bottom plate deposit bring skids, is difficult to walk away；It takes turns frame and has the non-skid band 14 for reinforcing anti-skidding muscle with one layer, with
Increase the contact area of wheel and bottom plate；Pass through the combination of permanent magnetic coupling and housing 33 between outer rotor 32 and drive shaft 7
It uses, realizes the permanent magnet coupling countermeasure that large-scale storage tank Corrosion of base plate immersion automatic acoustics detector power static seal transmits,
Solve the leakage problem of detector dynamic seal transmitting device in crude oil medium.
Recyclable device 3 is set refering to the outside of each driving wheel 2 of Fig. 5, recyclable device 3 includes timing initiating mechanism 21, liquid
State CO2Gas cylinder 26, air bag 18, air bag slot 20, seal box 22, air bag 18 are the gas cell with gaseous core, and air bag 18 passes through elasticity
Ring set and lockable stay hook 19 are placed in 18 slot of air bag, and air bag slot 20 is looped around outside seal box 22, timing initiating mechanism 21
With liquid CO2Gas cylinder 26 is placed in seal box 22.Air bag 18 is made of the textile material of superpower tear-proof, and 18 surface of air bag applies
The coating of guaranteed air-tightness, this superpower pressure for making air bag 18 be able to bear inflation moment prevent its tearing and gas leakage.It returns
Receiving apparatus 3 is separately mounted in two driving wheels 2 in left and right using two air bags 18, and timing initiating device is also placed in wheel
Portion.
Refering to Fig. 6, timing initiating mechanism 21 includes timer 27, battery, causes motor 28, rack gear needle 29, timer 27
Connection causes motor 28, and the output shaft for causing motor 28 has gear, and gear connects rack gear needle 29, and rack gear needle 29 is with sealing
Piece, the air inlet pipe 9 of air bag 18 connect the air passage of threeway 17, liquid CO2Seal 25, seal 25 is arranged in the outlet of gas cylinder 26
It extend into a mouth of threeway 17, rack gear needle 29 is extend into threeway 17 from another mouth of threeway 17, and rack gear needle 29 is directed toward
Seal 25；
Tele-control system 8 is located at internal body, including transmitting module, receiving module, controller, regulated power supply, acoustic signal
Capture card, drive module, transmitting module use integrated coding chip, and receiving module uses coding chip, to complete wireless telecommunications
With the input state of control single chip computer, control processing is carried out according to the input state that receiving module provides by controller, is finally controlled
The control signal that device processed provides passes to walking mechanism, immersion acoustic sensor 6, to be respectively completed walking, steering, detection
Equal various functions.
Positioning system of the invention is micro radio positioning system, and by positioning Wi-Fi chip, (wireless signal connects wireless aps
Access point), server composition；Positioning Wi-Fi chip is placed in inside the control module for being loaded with acoustical signal acquisition system and control system,
Four wireless aps (wireless signal access point) forming arrays are evenly arranged at four manholes of storage tank floating roof, and it is floating that server is placed in storage tank
It pushes up and is connect with wireless aps (wireless signal access point)；In detector work, server issues positioning or tracking to detector
Order, detector passes through the data for acquiring each wireless aps (wireless signal access point) after receiving order, and data are sent
To server, server determines the position of detector according to the signal strength of fixed position by calibration algorithm.
Positioning system and tele-control system 8 cooperate, and make walking mechanism accurately according to planning detection path walking, inspection
It surveys, runs to collection site after the completion of detection, collection site is corresponding at roof manhole, at collection site, works as timer
The time of 27 settings terminates, and timer causes the rotation of motor 28 and with the movement of carry-over bar needle 29, punctures liquid CO2Gas cylinder 26 it is close
Sealing 25, air bag 18 are inflated and are opened, and the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion is made to float up to roof manhole
Place, is recovered back.
In the blast resistance construction design of seal box 22 in body and recyclable device, using thermosetting resin based composites point
It is not processed into flanged body and shell 1.Contact seal is used between body and shell 1, i.e., adjoins one another in the two
It is sealed between surface using oil resisting paronite pad, then is connected using bolts and nuts；Using dynamic between body and drive shaft 7
Power static seal, i.e. being used in combination by permanent magnetic coupling and housing 33, realization large-scale storage tank Corrosion of base plate immersion are automatic
The permanent magnet coupling countermeasure that Acoustic detection instrument power static seal transmits solves detector dynamic seal in crude oil medium and transmits
The leakage problem of device；Gauge hole and CO on immersion acoustic sensor and organism soleplate 42Box under snorkel and seal box 22
Seal with O ring is used between ventilation pore on body.The automatic acoustics of large-scale storage tank Corrosion of base plate immersion is realized by above method
Detector is fully sealed.
When the present invention detects, it be combined with each other, constrains between each component part, complete detection process jointly.Specific work process
It is as follows: to will test instrument and launched from storage tank floating roof manhole to the tank inside with medium up to tank bottom, then operator uses
Server issues positioning or trace command to detector, and positioning system is started to work after detector receives order, in detector
Wi-Fi chip will at manholes multiple in collected floating roof the wireless aps (wireless signal access point) of fixed position signal it is strong
The server being sent in floating roof is spent, then collected data are stored and are calculated the coordinate of detector by server,
And the position of detector is shown on map by graphics engine.After operating the initial position for obtaining detector above, lead to
Wheel steering steering engine and driving motor 13 that tele-control system 8 controls detector are crossed, detects its walking to storage tank floor
In region and each test point, which is reached, along planning path carries out Acoustic detection, and in detector walking process at Acoustic detection instrument
In closed state.Each test point carries out the Acoustic detection of a period of time and each point detection data automatic storage is in hard disk,
Until completing Detection task.It finally will test instrument to be moved at recovery point, wait recyclable device initiation and the people above recovery point
It will test instrument recycling at hole.
Claims (8)
1. a kind of automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion, it is characterised in that: this large-scale storage tank bottom plate is rotten
The erosion automatic acoustics detector of immersion includes body, walking mechanism, tele-control system (8), positioning system, immersion acoustics biography
Sensor (6), recyclable device (3), walking mechanism include driving wheel (2), universal wheel (5), driving mechanism, and universal wheel (5) is mounted on
The front end of body, driving wheel (2) are mounted on body two sides and using differential steerings, and recycling is arranged in the outside of each driving wheel (2)
Device (3), recyclable device (3) include timing initiating mechanism (21), liquid CO2Gas cylinder (26), air bag (18), air bag slot (20),
Seal box (22), air bag (18) are the gas cell with gaseous core, and air bag (18) passes through elastic ring set and lockable stay hook (19)
It is placed in air bag slot (20), air bag slot (20) is looped around seal box (22) outside, timing initiating mechanism (21) and liquid CO2Gas cylinder
(26) it is placed in seal box (22), timing initiating mechanism (21) includes timer (27), battery, causes motor (28), rack gear needle
(29), timer (27) connection causes motor (28), and the output shaft for causing motor (28) has gear, and gear connects rack gear needle
(29), rack gear needle (29) has diaphragm seal, and the air inlet pipe (9) of air bag (18) connects threeway (17), liquid CO2Gas cylinder (26) goes out
Mouth setting seal (25), seal (25) are extend into a mouth of threeway (17), and rack gear needle (29) is another from threeway (17)
One mouth is extend into threeway (17), and rack gear needle (29) is directed toward seal (25)；Immersion acoustic sensor (6) is mounted on body
On chassis (4), and immersion acoustic sensor (6) signal receiving plane is parallel with chassis (4)；Tele-control system (8) connects respectively
Connect driving motor (13) and immersion acoustic sensor (6).
2. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 1, it is characterised in that: described
Immersion acoustic sensor (6) there are four, this four sensors are evenly arranged on body chassis (4) with " mouth " shape.
3. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 2, it is characterised in that: described
Driving wheel (2) be octagon wheel, driving wheel (2) center be outer rotor (32), outer rotor (32) with take turns frame between be arranged eight
Root spring strut, each driving wheel (2) connect a drive shaft (7), drive shaft (7) connection driving electricity by outer rotor (32)
Machine (13) uses power static seal between outer rotor (32) and drive shaft (7), power static seal is by permanent magnetic coupling and housing
(33) be bonded；The circumferential direction of wheel frame is evenly distributed with eight spring spools (16), and spring spool is installed in one end of every spring strut
(16) in, the other end is fixed with wheel frame, and wheel frame has the non-skid band (14) for reinforcing anti-skidding muscle with one layer, to increase wheel and bottom
The contact area of plate；Being used in combination by permanent magnetic coupling and housing (33) between outer rotor (32) and drive shaft (7), reality
The permanent magnet coupling countermeasure that existing large-scale storage tank Corrosion of base plate immersion automatic acoustics detector power static seal transmits.
4. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 3, it is characterised in that: described
Tele-control system (8) be located at internal body, including transmitting module, receiving module, controller, regulated power supply, acoustic signal
Capture card, drive module, transmitting module use integrated coding chip, and receiving module uses coding chip, to complete wireless telecommunications
With the input state of control single chip computer, control processing is carried out according to the input state that receiving module provides by controller, is finally controlled
The control signal that device processed provides passes to walking mechanism, immersion acoustic sensor (6), is respectively completed walking, steering, detection function
Energy.
5. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 4, it is characterised in that: described
Positioning system be micro radio positioning system, be made of positioning Wi-Fi chip, four wireless aps, servers；Position Wi-Fi
Chip is placed in inside the controller of tele-control system (8), and four wireless aps forming arrays are evenly arranged on four people of storage tank floating roof
At hole, server is placed in storage tank floating roof and connect with wireless aps.
6. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 5, it is characterised in that: described
Air bag (18) be made of the textile material of superpower tear-proof, air bag (18) surface applies the coating of guaranteed air-tightness.
7. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 6, it is characterised in that: described
Positioning system and tele-control system (8) cooperate, make walking mechanism accurately according to planning detection path walking, detection, inspection
Collection site is run to after the completion of surveying, collection site is corresponding at roof manhole, at collection site, when timer (27) is set
The time set terminates, and timer causes motor (28) rotation and with carry-over bar needle (29) movement, punctures liquid CO2Gas cylinder (26)
Seal (25), air bag (18) are inflated and are opened, and the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion is driven to float up to
At roof manhole, it is recovered back.
8. the automatic acoustics detector of large-scale storage tank Corrosion of base plate immersion according to claim 7, it is characterised in that: described
Body be made of shell (1) and chassis (4), between shell (1) and chassis (4) use contact seal, drive shaft (7) and machine
Power static seal is used between body, uses seal with O ring on immersion acoustic sensor (6) and shell (1) between gauge hole,
Seal box (22) uses contact seal, and seal with O ring is used between air inlet pipe (9) and threeway (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810655970.3A CN108982662B (en) | 2018-06-23 | 2018-06-23 | Immersion type automatic acoustic detector for corrosion of large-scale storage tank bottom plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108284932B (en) * | 2018-01-05 | 2019-11-22 | 东阳市善水环境工程有限公司 | A kind of underwater anticollision unmanned plane for shooting |
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| CN110702787A (en) * | 2019-10-17 | 2020-01-17 | 常州大学 | Large-scale storage tank bottom plate corrosion immersion acoustic global detection method |
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