CN113979381A - Tank car inspection safety work platform based on can control by universal moving wheel - Google Patents
Tank car inspection safety work platform based on can control by universal moving wheel Download PDFInfo
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- CN113979381A CN113979381A CN202111224327.3A CN202111224327A CN113979381A CN 113979381 A CN113979381 A CN 113979381A CN 202111224327 A CN202111224327 A CN 202111224327A CN 113979381 A CN113979381 A CN 113979381A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Abstract
The invention relates to a tank car inspection safety operation platform based on universal movable wheel control. The device comprises four parts, namely a leg frame, a platform, a supporting frame and a chassis; the supporting frame and the leg frame form a door-shaped structure; the platform is assembled between the leg frames through the lifting mechanism; a platform floor is arranged at the lower bottom of the platform, an operation opening is arranged on the platform floor, and the platform is also provided with a side opening door and a middle opening door; the chassis comprises a supporting bottom plate and a universal movable wheel mechanism; the control system comprises a power supply system, a central controller, an input system and a driving system; the output end of the input system is connected with the input end of the central controller, the output end of the central controller is connected with the input end of the driving system, and the output end of the driving system is respectively connected with the input ends of the lifting mechanism and the universal movable wheel mechanism so as to control the action of the system. The invention relates to a brand new design of tank car inspection equipment, which has novel structural layout and electrical control and comprehensive functions and high safety, and is an important novel tool for tank car inspection and safety production industries.
Description
Technical Field
The invention relates to the field of special equipment safety inspection, in particular to a tank car inspection safety operation platform based on universal movable wheel control.
Background
The tank car inspection needs inspection personnel to ascend to the top of the tank, the inspection personnel enters the manhole after detaching the manhole cover and carries out related work, the safety valve, the manhole cover, the macroscopic inspection, the polishing, the flaw detection, the pressurization, the pressure discharge, the nitrogen filling, the pressure resistance and other tests of the inspection work need 2 inspection personnel to go up and down the top of the tank car for more than 5 times, in addition, extra work such as rest, object taking and the like in the inspection process is carried out, and the tank loading and unloading times are more. The tank top height of the tank truck reaches 4 meters, and the tank body is smooth, so that the danger of tank truck inspection is not only the threat of residual gas in the tank, but also more importantly the falling risk of inconvenient ascending work of personnel.
At present, each tank car inspection mechanism is designed with a self-service inspection platform according to an inspection field, but a plurality of risks still exist due to reasons of backward technology, poor applicability and the like. Inspection platform generally all is metal construction, because of weight is great, needs several personnel to go on simultaneously during the moving platform, wastes time and energy, and manual operation still has the risk that collision groove tank car or personnel collide with. Require inspection personnel to be equipped with the safety belt when ascending a height, nevertheless can also cause work inconvenience to manhole cover dismouting in-process safety belt, some inspection personnel unpack the safety belt apart from private even for the convenience of work, have very big potential safety hazard. If the personnel in the tank lose consciousness due to reasons such as suffocation, heatstroke and tumble injury, if the platform is improperly designed, the emergency work is more difficult, and the precious gold rescue time is lost.
To comparatively fine inspection equipment and instrument, because of can not place on the tank wagon jar body with self high restriction, only can put the equipment host computer subaerial, cause the inspection of the supplementary tank wagon of the inspection equipment that can't introduce advance, unable scientific improvement inspection efficiency and enhancement inspection effect.
Disclosure of Invention
The invention aims to provide a tank car inspection safety operation platform based on universal movable wheel control, which is driven by electric power, is controlled by an inspector to move in a universal way, lift and control manhole alignment, is convenient and safe to disassemble and assemble manhole covers, does not have the risk of falling of the inspector, has various designs such as a box structure of the platform, various door opening and the like, can be lifted and flexibly and automatically walk due to reasonable structural design of the platform, can be provided with inspection related instruments and various emergency measures, can improve inspection efficiency and reduce the risk of injury of the inspector, and is an important novel tool for tank car inspection and safety production industries.
The technical scheme of the invention is as follows:
the invention relates to a tank car inspection safety operation platform based on universal movable wheel control, which comprises four parts, namely a leg frame, a platform, a support frame and a chassis; the chassis is divided into a left chassis and a right chassis, the leg frame is divided into a left leg frame and a right leg frame, and the support frame is divided into a front support frame and a rear support frame;
the left end and the right end of the front supporting frame are respectively fixed at the front parts of the upper ends of the left leg frame and the right leg frame, the left end and the right end of the rear supporting frame are respectively fixed at the rear parts of the upper ends of the left leg frame and the right leg frame, the front supporting frame and the rear supporting frame are symmetrically arranged, and the front supporting frame and the rear supporting frame and the left leg frame and the right leg frame form a door-shaped structure;
the platform is assembled between the left leg frame and the right leg frame through a lifting mechanism, the platform can shuttle between the front support frame and the rear support frame, the platform is in a box shape, four side walls and the lower bottom of the platform adopt a steel skeleton framework structure, a cross beam is arranged at the top of the platform, a platform floor is arranged on the lower bottom of the platform, a rectangular operation opening corresponding to a manhole above a tank body of a tank car is arranged in the middle of the platform floor, a protective cover is movably connected to the operation opening, a side opening door is arranged on the side surface of the platform, and a center opening door is arranged in front of the platform;
the left chassis and the right chassis are respectively connected and assembled at the bottoms of the left leg frame and the right leg frame, the left chassis and the right chassis structurally comprise a supporting bottom plate and a universal movable wheel mechanism assembled below the supporting bottom plate, and the universal movable wheel mechanism comprises a universal movable wheel and a wheel driving device.
The control system of the universal movable wheel mechanism and the lifting mechanism comprises a power supply system, an input system, a central controller and a driving system; the output end of the input system is connected with the input end of a central controller, the output end of the central controller is connected with the input end of a driving system, and the output end of the driving system is respectively connected with the input ends of a lifting mechanism and a universal movable wheel mechanism so as to control the action of the system;
the central controller and the power supply system are assembled in a chassis and are arranged on the platform; the power supply system comprises a transformer and a power switch and supplies power to all parts of the operation platform; the input system comprises a position limiter and an operation console; the position limiter comprises limit switches which are assembled at the top and the bottom of the inner sides of the left leg frame and the right leg frame and used for limiting the lifting limit position of the platform, a distance measuring module which is assembled in the middle of the bottom of the platform and used for measuring the distance between the platform and the tank body, and limit switches which are assembled at the edge parts of the inner sides of the left leg frame and the right leg frame and used for measuring the inner sides of the left leg frame and the right leg frame to the limit position of the vehicle body; wherein each operation switch element for controlling the platform to act is arranged in the operation console and is assembled on the platform; the drive system comprises a motor driver; the central controller controls the motors in the universal movable wheel mechanism and the platform lifting mechanism through the motor driver.
Furthermore, the central controller comprises an input photoelectric coupler, an input serial interface, an input CAN bus interface, a singlechip, an output photoelectric coupler and an output CAN bus interface; the output ends of the input photoelectric coupler, the input serial interface and the input CAN bus interface are respectively connected to the input end of the singlechip, and the output end of the singlechip is respectively connected to the output photoelectric coupler and the output CAN bus interface; the central controller and the power supply system are assembled in a case and are arranged in the platform.
Furthermore, the platform is also internally provided with an acousto-optic warning device which is arranged in the operation console; relays are correspondingly arranged in the driving system, and the central controller controls the sound and light warning device to give out sound and light warning through the relays.
The sound and light warning device can adopt a buzzer to alarm and a warning lamp, or adopt a voice prompt warning and warning lamp; when the limit switch acts or the distance is too close to detection, the alarm can give an alarm to remind an operator of avoiding wrong direction operation.
Furthermore, the platform is also provided with a horizontal laser transmitter, a vertical laser transmitter and a profile laser transmitter, a relay is correspondingly arranged in a driving system of the control system, and the central controller controls the horizontal, vertical and profile laser transmitters to respectively transmit laser lines through the relay so as to respectively realize horizontal, vertical and profile laser guiding; the horizontal laser transmitter is arranged on the bottom surface of the platform and is flush with the lowest point of the platform; the vertical laser transmitter is arranged at the upper part of the platform and is positioned at the transverse center of the platform, and the transmitted vertical laser light is transversely vertical to the platform; the outline-indicating laser transmitters are arranged at two sides of the bottom surface of the platform and are positioned at the innermost edge positions of the inner sides of the leg frames, and emitted outline-indicating laser rays are flush with the innermost edge positions of the inner sides of the leg frames.
Furthermore, a universal industrial handle, a platform lifting button, an emergency stop switch and a distance measuring module switch are arranged in the operation console;
the universal industrial handle comprises: by adopting the multi-axis Hall type industrial operating lever, an operator can control the overall structure to move in a universal way by shifting the direction of the handle; the universal industrial handle outputs coordinate value data to the central controller;
the platform lifting button comprises a lifting button, a descending button and an enabling button, and respectively outputs a lifting signal, a descending signal and an enabling signal to the central controller; when the enabling button is pressed, the lifting button or the descending button is pressed at the same time, so that the platform can be controlled to lift or descend, and if the enabling button is not pressed, the lifting cannot be controlled;
the emergency stop switch directly connects the 220V power supply with the power line of the transformer, and when an emergency occurs, the emergency stop switch is pressed to directly cut off the power supply of the power supply;
the ranging module switch is used for starting horizontal, vertical and profile-indicating laser guiding in the alignment process of the sleeve tank and the manhole.
Furthermore, the left leg frame and the right leg frame comprise support angle steel, a ladder stand, guide channel steel and a top connecting plate; the supporting angle steels of each side leg frame are distributed, at least 2 supporting angle steels and more than 2 supporting angle steels are arranged, and the upper end and the lower end of each supporting angle steel are respectively assembled and fixed on the connecting plate and the supporting bottom plate; a ladder stand is assembled on the leg frame on any one side of the left side and the right side or on the leg frames on both sides, the ladder stand is positioned in the middle of the outer side of the leg frame, and the upper end and the lower end of the ladder stand are respectively and fixedly connected to the connecting plate and the supporting bottom plate; 2 guide channel steel are arranged on each side of the left leg frame and the right leg frame, the 2 guide channel steel on each side are respectively positioned at two ends of one side of the leg frame towards the inside, and the upper end and the lower end of each guide channel steel are respectively fixed on the connecting plate and the supporting bottom plate.
Furthermore, the operation opening arranged in the middle of the platform floor comprises an opening arranged in the center of the platform floor and an equal-width strip-shaped opening arranged in the center of the side wall and communicated with the opening in the center of the platform floor, the width of the operation opening is matched with the size of a manhole above the tank body, the height of the opening in the side wall can at least accommodate a convex part of the curved surface of the tank top with the manhole below, so that an operator can conveniently and smoothly enter the tank, and a movable protective cover is arranged on the opening in the center of the platform floor.
Furthermore, the platform surrounding wall is of a mesh grid structure, and reinforcing angle steel is arranged inside the platform surrounding wall. The mesh grid can prevent the shearing accident of the inspector in the lifting and descending processes of the platform, and the inspector can also perform visual operation through the mesh grid without influencing the operation visual field.
Furthermore, the lifting mechanism for connecting the platform with the left leg frame and the right leg frame comprises a guide bearing, a lifting speed reducer, a screw, a lifting motor and a lifting connecting shaft; wherein the screw rod is arranged in the middle of the inner sides of the left leg frame and the right leg frame, and the left leg frame and the right leg frame are respectively provided with 1 screw rod; the outer sides of the left side and the right side of the platform are respectively provided with 4 guide bearings, and every two guide bearings are arranged in the grooves of the guide channel steel in a pair and are in sliding contact with the guide channel steel; the screw is arranged in the middle of the inner sides of the left leg frame and the right leg frame, and the left leg frame and the right leg frame are respectively provided with 1 screw; the outer sides of the left side and the right side of the platform are respectively provided with 4 guide bearings, and every two guide bearings are arranged in the grooves of the guide channel steel in a pair and are in sliding contact with the guide channel steel; the lifting motor is installed and fixed on a cross beam at the top of the platform, the lifting motor is connected with a lifting connecting shaft through a coupler, the lifting connecting shaft is connected with a lifting speed reducer, the lifting speed reducer is fixed on two sides of the platform and is sleeved with a screw, and the lifting speed reducer is a worm gear speed reducer. The lifting motor rotates to drive the lifting connecting shaft to rotate, and the lifting speed reducer is driven to rotate positively and reversely on the screw rod, so that the platform can run up and down.
Furthermore, the universal movable wheel mechanism adopts a Mecanum wheel mechanism, and comprises a Mecanum wheel and a wheel driving device; the Mecanum wheel driving device is a power driving part of a Mecanum wheel and comprises a speed reducer and a driving motor, wherein a shaft rod on the inner side of the Mecanum wheel is connected with the speed reducer through a coupling, and the speed reducer is connected with the driving motor through a flange; the driving motor performs forward rotation, reverse rotation and speed change through signals output by the controller, the speed reducer reduces the speed of the driving motor and increases the moment at the same time, and the Mecanum wheel is controlled to rotate; the wheel hub direction of the Mecanum wheels is vertical to the long side direction of the chassis, and 2 Mecanum wheels are respectively arranged on each of the left chassis and the right chassis, and the number of the wheels is 4.
Furthermore, the platform is also internally provided with an acousto-optic warning device which is arranged in the operation console; relays are correspondingly arranged in the driving system, and the central controller controls the sound and light warning device to give out sound and light warning through the relays.
The sound and light warning device can adopt a buzzer to alarm and a warning lamp, or adopt a voice prompt warning and warning lamp; when the limit switch acts or the distance is too close to detection, the alarm can give an alarm to remind an operator of avoiding wrong direction operation.
Furthermore, the distance measuring module for detecting the distance from the platform to the tank body in the input system can be realized by adopting laser, infrared, ultrasonic, radar and other modes.
Further, the platform can be further provided with a blower, during operation, the air pipe can be introduced into the tank body, the blower blows air inwards in positive pressure, and fresh air is provided for inspection personnel in the tank body, so that oxygen deficiency suffocation of personnel caused by residual gas or high-temperature closed environment is avoided. In addition, the platform is also provided with an emergency rescue device, such as an oxygen cylinder, a first-aid kit, a rescue stretcher, a fire extinguisher and the like.
Description of the working procedure of the invention:
the safe operation platform for tank car inspection provides a safe and reliable working environment for tank car inspection personnel. After the tank car stops in the checked parking space, an inspector climbs the platform, the platform is lifted to the top through a platform lifting button on an operation platform, the safe operation platform is controlled to move to the rear of the tail of the tank car through a universal industrial handle on the operation platform, horizontal laser guiding, vertical laser guiding and outline-showing laser guiding are opened, the position of the safe operation platform is adjusted, horizontal laser light exceeds the highest point of the tank body, the vertical laser light basically coincides with the central line of the tank body, and outline-showing laser lines are observed to ensure that the horizontal laser light cannot coincide with a body part so as to carry out tank sleeving operation.
After the inspection personnel complete the operation of safe operation platform cover jar, utilize universal industry handle, the operation opening on the visual inspection platform can dock with the manhole on the jar body, treat to guarantee that the operation opening can not touch with the manhole and dock the back, ranging module detects the platform below and has a jar body, and the platform floor visor can be opened to inspection personnel side to prevent to open platform floor visor under the platform below does not have jar body condition, the personnel risk of falling appears. The inspection personnel control platform lift button descends the platform operation, and at the in-process that descends, ranging module real-time detection platform floor is to the distance of the jar body, and the alarm can be according to the warning mode of the scope output prompt tone of detection distance.
After the operation opening is in butt joint with the manhole cover and descends, an inspector can use an electric tool on the safety operation platform to disassemble the manhole cover of the tank car, use an electric hoist to lift the manhole cover and place the manhole cover at the safety position of the safety operation platform. The inspection personnel control the electric hoist to convey the inspection personnel to the tank body of the tank car by fastening a safety belt hung on the electric hoist. Still be provided with the air-blower on the safe operation platform, introduce the internal portion of jar with the tuber pipe, the air-blower is inside to carry out the malleation air blast, provides fresh air for the internal inspection personnel of jar to avoid residual gas or high temperature airtight environment to cause personnel's oxygen deficiency to suffocate.
An emergency rescue device, such as an oxygen cylinder, a first-aid kit, a rescue stretcher and a fire extinguisher, is arranged on the safe operation platform. If the inspectors have uncomfortable body or environmental accidents, the inspectors can be fastened by the electric hoist to be lifted to the safety operation platform through the safety belt, the first aid is carried out, and the gold rescue time is guaranteed.
Safe work platform provides reliable and stable platform structure for tank car inspection personnel, sets up the cat ladder inside safe work platform, and because of circumstances such as work rest, taking tools, the accessible cat ladder carries out the upper and lower of platform, need not remove overall structure when inspection personnel.
After the tank car is inspected, the inspection personnel control the lifting button of the platform to lift the safe operation platform, observe that the horizontal laser light exceeds the part above the tank body, control the universal industrial handle to move the safe operation platform out of the tank body area, and control the lifting button of the platform to descend the safe operation platform until the inspection personnel can reach the ground.
To the condition of manhole cover at jar body rear, well dodge door can be opened to platform one side of safe operation platform, and the steerable universal industrial handle of inspection personnel removes jar body rear with safe operation platform control, can carry out the manhole cover after the counterpoint is accurate and dismantle, operation such as inspection personnel business turn over.
The invention has the beneficial effects that: the tank car inspection safety operation platform is perfect in design and solves a plurality of problems in the prior art. The main structural components of the whole body are all arranged into detachable independent structures, so that the transportation, installation, debugging and maintenance are convenient. Wholly set to the door frame structure, possess the mobility of qxcomm technology simultaneously, platform operating system structural design is very succinct, but controls very in a flexible way, and realization that can be very convenient is to the whole each position test of tank wagon. The rectangular channel hole arranged on the platform floor can efficiently and safely ensure that the detection personnel can smoothly detect the interior of the tank body. The structural design of the support frame and the left and right leg frames saves materials and ensures sufficient strength and safety. The Mecanum wheel structure can enable the platform to move flexibly in place in a small range, and the detection process of accurate in place, safety and stability is guaranteed. All kinds of detection devices can be safely and safely carried and placed in the platform, and all-round detection of the tank car is realized. The integrated electrical control system of the platform has the advantages of comprehensive and perfect design, concise layout and high control efficiency, and the control of the system achieves high-efficiency operation and safe control. The design of this platform is comprehensive, the guarantee is reliable in the security, and the security performance is very high, provides reliable and stable platform structure for tank car inspection personnel. The invention can basically avoid the danger that workers climb and fall carelessly in various products in the prior art, well solve the problem that the workers are difficult to rescue after losing consciousness in the tank body due to suffocation, sunstroke, falling injury and the like, and avoid the risks of collision of tank cars or collision of the workers due to improper operation in the prior art.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention;
FIG. 2 is a schematic fragmentary view of the overall structure of the embodiment of the present invention;
fig. 3 is a functional block diagram of the electrical control system in an embodiment of the present invention.
Fig. 4 is a schematic block diagram of the cpu according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the accompanying drawings, which are shown in the accompanying drawings 1, 2, 3 and 4, the invention discloses an embodiment of a tank truck inspection safety operation platform based on universal movable wheel control, which comprises the following steps:
as shown in figure 1, the inspection safety operation platform structure of the tank truck comprises a chassis A, a leg frame B, a platform C and a support frame D, wherein the chassis A is divided into a left chassis and a right chassis, the leg frame B is divided into a left leg frame and a right leg frame, and the support frame D is divided into a front support frame and a rear support frame. The front and rear supporting frames are symmetrically fixed at the front and rear sides of the upper ends of the left and right leg frames to form a door-shaped structure; the platform C is assembled between the left leg frame and the right leg frame through the lifting mechanism.
Referring to fig. 2, the structure is subdivided, and in the present invention: the chassis a includes: a support base plate A1 and a universally movable wheel mechanism mounted below the support base plate, the universally movable wheel mechanism including a universally movable wheel and a wheel drive; the present invention employs a mecanum wheel mechanism that includes mecanum wheel a2 and wheel drive A3.
The support base plate a1 bears the total weight of the components above the chassis, and is also a structure integrating the mecanum wheel and the driving mechanism, and the lower part of the support base plate is connected with shaft rods at two sides of the mecanum wheel through bearing bearings to averagely press the weight on the shaft rod ends at two sides of the mecanum wheel.
Mecanum wheel A2 is the running gear of the whole mechanism, and universal movement of the mechanism is realized by adjusting the rotating speed and direction to generate vector moment in multiple directions, the hub direction of Mecanum wheel A2 is perpendicular to the long side direction of support bottom plate A1, and 2 Mecanum wheels A2 are respectively installed on each of the left chassis A and the right chassis A, and 4 wheels are provided.
Wheel drive A3 is the power drive component of mecanum wheel a 2. The Mecanum wheel driving device comprises a speed reducer and a driving motor, wherein an inner side shaft rod of a Mecanum wheel A2 is connected with the speed reducer through a coupling, and the speed reducer is connected with the driving motor through a flange. The driving motor rotates forwards, backwards and changes speed through signals output by the controller, the speed reducer reduces the speed of the driving motor and increases the moment, and the Mecanum wheel A2 is controlled to rotate.
The leg frame B comprises a support angle B1, a ladder stand B2, a guide channel steel B3, a top connecting plate B4 and the like.
Support angle steel B1 distributes on supporting baseplate A1 to through welding or bolted connection, support angle steel B1 upper end fixed connection is at top connecting plate B4, plays the effect of stable support to leg B structure.
A ladder stand B2 is arranged on any side leg frame or both side leg frames, the ladder stand B2 is positioned in the middle of the outer side of the leg frame B and positioned between the supporting angle steels B1, and the upper end and the lower end of the ladder stand B2 are respectively fixedly connected to the top connecting plate B4 and the supporting bottom plate A1. The inspector can go up and down through ladder stand B2, and ladder stand B2 also has the stabilizing effect on support angle B1.
The upper end and the lower end of the guide channel steel B3 are respectively fixed on the top connecting plate B4 and the supporting bottom plate A1 and are connected through welding or bolts. The left leg frame and the right leg frame are respectively provided with 2, 4, and 2 guide channel steels on each side are respectively positioned at two ends of the inward side of the leg frames. The guide channel steel B3 plays a role in stably supporting the leg frame B structure and plays a role in guiding and stabilizing the platform C.
The platform C is box-shaped, the four side walls C1 and the bottom of the platform C are of steel skeleton frame structure, and the top of the platform C is provided with a beam. The enclosure wall (C1) comprises mesh grid, and there is the enhancement angle steel inside, and mesh grid is for preventing that the inspection personnel from rising and taking place the shearing accident with the decline in-process at the platform, and inspection personnel also can carry out visual operation through mesh grid, do not influence the operation field of vision.
The lower bottom of the tank is provided with a platform floor C8, a rectangular operation opening C7 corresponding to a manhole above a tank body of the tank car is arranged in the middle of the platform floor C8 and comprises an opening arranged in the center of the platform floor C8 and a strip-shaped opening which is arranged in the center of the side wall and communicated with the opening in the center of the platform floor C8 and has the same width as the manhole above the tank body, the width of the operation opening C7 is matched with the size of the manhole above the tank body, and the height of the opening on the side wall can at least accommodate a curved surface convex part of the tank top with the manhole so that an operator can smoothly enter the tank. A protective cover C6 is arranged on the operation opening C7, and the protective cover (C6) is connected with the platform floor (C8) through a hinge, so that the falling accident of inspectors in the lifting process of the platform (C) is prevented. When the platform floor protective cover (C6) is opened, the working opening (C7) is exposed, and inspection personnel can perform on-tank operations through the working opening (C7).
The side opening door (C9) is positioned at the leg (B) positions at two sides of the platform (C), the switch is pushed and pulled on the enclosing wall (C1), and the inspector can get in and out through the side opening door (C9) after moving the platform (C) to a proper position without repeatedly lifting.
The center opening door (C10) is positioned in the middle of the platform (C) and is divided into 2 leaves, the switch is pushed and pulled on the surrounding wall (C1), and when the manhole cover of the tank truck is arranged at the rear, the center opening door (C10) can be opened for disassembling and accessing the manhole cover.
The lifting mechanism comprises a guide bearing C2, a lifting speed reducer C3, a lifting motor C4, a lifting connecting shaft C5, a screw C11 and the like.
The screws (C11) are respectively arranged at 1 of the left leg frame and the right leg frame, and are 2 in total, and are connected through flanges, thereby playing a role in guiding and supporting the lifting of the platform (C).
The guide bearing (C2) is arranged on the outer side of the platform (C) and is in sliding contact with the guide channel steel (B3) on the left leg frame and the right leg frame (B), and the composite bearing is adopted, so that the composite bearing can longitudinally slide up and down and transversely incline, and the bearing is prevented from being damaged by transverse force generated by the platform. The platform (C) is provided with 8 guide bearings (C2), each leg (B) corresponds to 4 guide bearings (C2), and each guide channel steel (B3) is internally provided with 2 guide bearings (C2).
The lifting speed reducer (C3) is sleeved with the screw (C11), is a worm gear speed reducer, and moves up and down on the screw (C11) through gear rotation.
The lifting motor (C4) is connected with the lifting connecting shaft (C5) through a coupler, the lifting connecting shaft is connected with the lifting speed reducer (C3), the lifting connecting shaft (C5) is driven to rotate through the rotation of the lifting motor (C4), the lifting speed reducer (C3) is driven to rotate, and the platform (C) can run up and down.
The support frame (D) is structurally divided into a front support frame (D1) and a rear support frame (D2), the front support frame and the rear support frame are respectively connected with the left leg frame and the right leg frame (B) and are in a shape like the Chinese character 'Re', the deformation of the whole mechanism is prevented, and the platform (C) can shuttle between the front support frame (D1) and the rear support frame (D2).
Referring to fig. 3 and 4, the electrical control system for the universally movable wheel mechanism and the lifting mechanism in the embodiment of the present invention includes a power supply system, a central controller, an input system, and a driving system; the output end of the input system is connected with the input end of the central controller, the output end of the central controller is connected with the input end of the driving system, and the output end of the driving system is respectively connected with the input ends of the lifting mechanism and the mecanum mechanism so as to control the action of the system. The output of the driving system is also respectively connected to the acousto-optic warning device, the horizontal laser transmitter, the vertical laser transmitter and the outline-showing laser transmitter so as to control the alarm and start the laser guide.
The sound and light warning device is arranged in the operation console.
The horizontal laser emitter is arranged on the bottom surface of the platform, is flush with the lowest point of the platform and emits horizontal laser parallel to the floor of the platform; the vertical laser transmitter is arranged at the upper part of the platform, is positioned at the transverse center of the platform and transmits vertical laser which is transversely vertical to the platform; and the outline-showing laser transmitters are arranged at two sides of the bottom surface of the platform, are positioned at the innermost edge positions of the inner sides of the leg frames and transmit outline-showing laser which is flush with the innermost edge positions of the inner sides of the leg frames.
1. A power supply system: an alternating current 220V power supply is converted into 48V, 24V and 12V power supply through a transformer and a switching power supply, and power is supplied to each system module. The power supply system is assembled in the case and is arranged on the platform C
2. The central controller: the core of the whole system is to collect and operate and process data input into the system and output control signals to the driving system. The central controller is assembled in the machine box and is arranged on the platform C.
As shown in fig. 4, the central controller includes an input photoelectric coupler, an input serial interface, an input CAN bus interface, a single chip, and an output photoelectric coupler and an output CAN bus interface; the output ends of the input photoelectric coupler, the input serial interface and the input CAN bus interface are respectively connected to the input end of the single chip microcomputer, and the output end of the single chip microcomputer is respectively connected to the output photoelectric coupler and the output CAN bus interface.
3. An input system: including a position limiter and an operator console.
A position limiter: the device comprises a limit switch for limiting the lifting limit position of a platform, a distance measuring module for detecting the distance between the platform and a tank body, and a limit switch for detecting the distance from the inner sides of a left leg frame and a right leg frame to the limit position of a vehicle body.
Limiting switches for limiting the lifting limit position of the platform are assembled at the top and the bottom of the inner sides of the left leg frame and the right leg frame. When the platform is lifted to the limit position, the platform impacts an upper limit switch through a collision bow on the platform, at the moment, the platform stops running in the upward direction, and the platform can run downwards; when the platform descends to the limit position, the lower limit switch is impacted through the impact bow on the platform, the downward direction of the platform stops running at the moment, and the platform can run upwards. The limit switch limits and protects the operation limit position of the platform, and safety accidents caused by the fact that the platform is opened out of the limit position of the screw rod are prevented.
And the distance measuring module for measuring the distance between the platform and the tank body is assembled in the middle of the bottom of the platform. After the platform rises, after counterpoint through counterpoint hole on the platform and tank car jar body manhole, will descend butt joint operation, the platform bottom plate can not touch with the jar body this moment, and this module can be at the in-process real-time measurement platform lower part apart from the distance of the jar body, if apart from less than or equal to and set for the limit value, the inspection personnel can in time stop the platform operation, avoid the touch jar body of platform floor.
And the limit switches for detecting the positions from the inner sides of the left and right leg frames to the limit positions of the vehicle body are assembled at the edge parts of the inner sides of the left and right leg frames. After the platform rises to rise, operating personnel control overall structure embolias jar body process, and this limit switch setting is at the inboard border of controlling the leg frame, if because of the misoperation make about the leg frame too near from the automobile body, the automobile body touches with limit switch for overall structure can not move towards wrong direction again, can only move towards wrong opposite direction, has avoided overall structure frame and automobile body touching.
The operation console is internally provided with operation switch elements for controlling the platform to act, and the operation switch elements are assembled on the platform. The device comprises a universal industrial handle, a platform lifting button, an emergency stop switch and a laser guide switch.
Universal industrial handle: by adopting the multi-axis Hall type industrial operating lever, inspectors can control the universal movement of the whole structure by shifting the direction of the handle. The universal industrial handle outputs coordinate value data to the central controller.
Platform lifting button: is provided with a lifting button, a descending button and an enabling button. When the enable button is pressed, the lifting button or the descending button is pressed at the same time, so that the platform can be controlled to lift or descend, and if the enable button is not pressed, the lifting cannot be controlled.
An emergency stop switch: when an emergency occurs, the emergency stop switch is pressed, and the power supply of all mechanisms is disconnected.
Laser guide switch: in the alignment process of the sleeve tank and the manhole, horizontal, vertical and profile laser guiding can be started.
The horizontal laser guide is used for emitting horizontal laser parallel to the platform floor, and the laser guide is convenient for checking whether the platform exceeds the highest point of the tank body or not after the platform is lifted and before the tank sleeving process. When the horizontal laser ray is irradiated on the highest point of the tank body, which indicates that the platform floor exceeds the highest point of the tank body, the tank sleeving operation can be carried out; when the horizontal laser ray is irradiated on the tank body below the highest point of the tank body, the platform floor does not exceed the highest point of the tank body, and the tank sleeving operation cannot be carried out.
The vertical laser guide is used for emitting laser perpendicular to the center line of the platform, and the laser guide is convenient for an operator to control the integral structure to sleeve the tank in the correct direction in the tank sleeving process of the platform. When the vertical laser line is irradiated on the center of the tank body, the direction of the integral structure is not deviated, when the vertical laser line is not parallel to the tank body, an operator needs to adjust the integral structure to rotate so as to align the correct direction, and when the vertical laser line is parallel to the tank body but not in the center of the tank body, the operator needs to adjust the transverse movement of the integral structure of the platform so as to align the correct direction.
The outline laser is used for displaying the width of the left leg and the right leg, when the manual operation error causes that the vertical laser line cannot be completely parallel to the tank body and is matched with the center of the tank body, but the tank sleeving operation can be carried out due to the existence of smaller deviation, and in this case, as long as the outline laser cannot be emitted on the vehicle body, the left leg and the right leg cannot be touched with the vehicle body.
5. Drive system
The drive system includes: relay and motor driver
A relay:
when the integral structure is controlled to move and the platform is controlled to lift, the central controller controls the acousto-optic warning device to give out acousto-optic warning through the relay so as to ensure that no personnel around the operation structure injure danger. The sound and light warning device adopts a buzzer warning and warning lamp or adopts a voice prompt warning and warning lamp; when the limit switch acts or the distance is too close to detection, the alarm can give an alarm to remind an operator of avoiding wrong direction operation.
In the process of carrying out the cover jar and the manhole operation of counterpointing at control platform, central controller passes through the relay and controls level, perpendicular respectively and show profile laser transmitter transmission laser, realizes level, perpendicular, shows profile laser direction, can guarantee that operation platform's leg frame and platform can not take place to touch with the automobile body, and then avoid personnel because of the safety problem that the collision probably leads to.
A motor driver: when the overall structure is controlled to move and the platform is controlled to lift, a driving motor of a wheel driving device in the Mecanum wheel mechanism and a lifting motor in a lifting system need to be driven respectively to carry out speed and direction regulation control, and a central controller transmits a control signal to a motor driver after carrying out data processing and calculation by acquiring a control signal of an input system so as to control a corresponding motor to regulate the direction and the speed corresponding to the input system.
The working operation process of the invention comprises the following steps:
the safe operation platform for tank car inspection provides a safe and reliable working environment for tank car inspection personnel. After the tank car stops in the checked parking space, an inspector climbs the platform, the platform is lifted to the top through a platform lifting button on an operation platform, the safe operation platform is controlled to move to the rear of the tail of the tank car through a universal industrial handle on the operation platform, horizontal laser guiding, vertical laser guiding and outline-showing laser guiding are opened, the position of the safe operation platform is adjusted, horizontal laser light exceeds the highest point of the tank body, the vertical laser light basically coincides with the central line of the tank body, and outline-showing laser lines are observed to ensure that the horizontal laser light cannot coincide with a body part so as to carry out tank sleeving operation.
After the inspection personnel complete the operation of safe operation platform cover jar, utilize universal industry handle, the operation opening on the visual inspection platform can dock with the manhole on the jar body, treat to guarantee that the operation opening can not touch with the manhole and dock the back, ranging module detects the platform below and has a jar body, and the platform floor visor can be opened to inspection personnel side to prevent to open platform floor visor under the platform below does not have jar body condition, the personnel risk of falling appears. The inspection personnel control platform lift button descends the platform operation, and at the in-process that descends, ranging module real-time detection platform floor is to the distance of the jar body, and the alarm can be according to the warning mode of the scope output prompt tone of detection distance.
After the operation opening is in butt joint with the manhole cover and descends, an inspector can use an electric tool on the safety operation platform to disassemble the manhole cover of the tank car, use an electric hoist to lift the manhole cover and place the manhole cover at the safety position of the safety operation platform. The inspection personnel control the electric hoist to convey the inspection personnel to the tank body of the tank car by fastening a safety belt hung on the electric hoist. Still be provided with the air-blower on the safe operation platform, introduce the internal portion of jar with the tuber pipe, the air-blower is inside to carry out the malleation air blast, provides fresh air for the internal inspection personnel of jar to avoid residual gas or high temperature airtight environment to cause personnel's oxygen deficiency to suffocate.
An emergency rescue device, such as an oxygen cylinder, a first-aid kit, a rescue stretcher and a fire extinguisher, is arranged on the safe operation platform. If the inspectors have uncomfortable body or environmental accidents, the inspectors can be fastened by the electric hoist to be lifted to the safety operation platform through the safety belt, the first aid is carried out, and the gold rescue time is guaranteed.
Safe work platform provides reliable and stable platform structure for tank car inspection personnel, sets up the cat ladder inside safe work platform, and because of circumstances such as work rest, taking tools, the accessible cat ladder carries out the upper and lower of platform, need not remove overall structure when inspection personnel.
After the tank car is inspected, the inspection personnel control the lifting button of the platform to lift the safe operation platform, observe that the horizontal laser light exceeds the part above the tank body, control the universal industrial handle to move the safe operation platform out of the tank body area, and control the lifting button of the platform to descend the safe operation platform until the inspection personnel can reach the ground.
To the condition of manhole cover at jar body rear, well dodge door can be opened to platform one side of safe operation platform, and the steerable universal industrial handle of inspection personnel removes jar body rear with safe operation platform control, can carry out the manhole cover after the counterpoint is accurate and dismantle, operation such as inspection personnel business turn over.
Claims (10)
1. The utility model provides a tank car inspection safety work platform based on can universal removal wheel control which characterized in that:
the device comprises four parts, namely a leg frame, a platform, a supporting frame and a chassis; the chassis is divided into a left chassis and a right chassis, the leg frame is divided into a left leg frame and a right leg frame, and the support frame is divided into a front support frame and a rear support frame; the front and rear supporting frames are symmetrically fixed at the front and rear sides of the upper ends of the left and right leg frames to form a door-shaped structure; the platform is assembled between the left leg frame and the right leg frame through the lifting mechanism; the platform is box-type, the surrounding walls on four sides and the lower bottom of the platform adopt a steel skeleton framework structure, the top of the platform is provided with a crossbeam, the lower bottom of the platform is provided with a platform floor, the middle position of the platform floor is provided with a rectangular operation opening corresponding to a manhole above a tank body of the tank car, the operation opening is movably connected with a protective cover, the side surface of the platform is provided with a side opening door, and the front of the platform is provided with a center opening door; the left chassis and the right chassis are respectively assembled at the bottoms of the left leg frame and the right leg frame, the left chassis and the right chassis comprise a supporting bottom plate and a universal movable wheel mechanism assembled below the supporting bottom plate, and the universal movable wheel mechanism comprises a universal movable wheel and a wheel driving device;
the control system of the universal movable wheel mechanism and the lifting mechanism comprises a power supply system, a central controller, an input system and a driving system; the output end of the input system is connected with the input end of a central controller, the output end of the central controller is connected with the input end of a driving system, and the output end of the driving system is respectively connected with the input ends of a lifting mechanism and a universal movable wheel mechanism so as to control the action of the system;
the central controller and the power supply system are assembled in a chassis and are arranged on the platform; the power supply system comprises a transformer and a power switch and supplies power to all parts of the operation platform; the input system includes a position limiter and an operating console: the position limiter comprises limit switches which are assembled at the top and the bottom of the inner sides of the left leg frame and the right leg frame and limit the lifting limit position of the platform; the distance measuring module is assembled at the bottom of the platform and used for measuring the distance between the platform and the tank body; limit switches which are assembled at the edge parts of the inner sides of the left leg frame and the right leg frame and are used for detecting the inner sides of the left leg frame and the right leg frame to the limit position of the vehicle body; wherein, each operation switch element for controlling the platform action is arranged in the operation console and is assembled on the platform; the drive system includes a motor drive.
2. The inspection safe operation platform of the tank car based on the control of the universal movable wheels, according to the claim 1, is characterized in that: the central controller comprises an input photoelectric coupler, an input serial interface, an input CAN bus interface, a single chip microcomputer, an output photoelectric coupler and an output CAN bus interface; the output ends of the input photoelectric coupler, the input serial interface and the input CAN bus interface are respectively connected to the input end of the single chip microcomputer, and the output end of the single chip microcomputer is respectively connected to the output photoelectric coupler and the output CAN bus interface.
3. A universally movable tanker inspection safety work platform according to claim 1 or 2, characterized in that: the platform is also provided with an acousto-optic warning device which is arranged in the operation console; relays are correspondingly arranged in a driving system of the control system, and the central controller controls the acousto-optic warning device to give out acousto-optic warning through the relays.
4. A universally movable tanker inspection safety work platform according to claim 1 or 2, characterized in that: the platform is also provided with a horizontal laser transmitter, a vertical laser transmitter and a profile indicating laser transmitter, a relay is correspondingly arranged in a driving system of the control system, and the central controller controls the horizontal, vertical and profile indicating laser transmitters to respectively transmit laser lines through the relay so as to respectively realize horizontal, vertical and profile indicating laser guiding; the horizontal laser transmitter is arranged on the bottom surface of the platform and is flush with the lowest point of the platform; the vertical laser transmitter is arranged at the upper part of the platform and is positioned at the transverse center of the platform, and the transmitted vertical laser light is transversely vertical to the platform; the outline-indicating laser transmitters are arranged at two sides of the bottom surface of the platform and are positioned at the innermost edge positions of the inner sides of the leg frames, and emitted outline-indicating laser rays are flush with the innermost edge positions of the inner sides of the leg frames.
5. The universally movable tanker inspection safety work platform according to claim 4, wherein: a universal industrial handle, a platform lifting button, an emergency stop switch and a laser guide switch are arranged in the operation console;
the universal industrial handle comprises: a multi-shaft Hall type industrial control lever is adopted, and a universal industrial handle outputs coordinate value data to a central controller;
the platform lifting button comprises a lifting button, a descending button and an enabling button, and respectively outputs a lifting signal, a descending signal and an enabling signal to the central controller;
the emergency stop switch directly connects the 220V power supply with the power line of the transformer, and when an emergency occurs, the emergency stop switch is pressed to cut off the power supply of the power supply;
the laser guide switch is used for starting horizontal, vertical and profile-indicating laser guide in the alignment process of the sleeve tank and the manhole.
6. The inspection safe operation platform of the tank car based on the control of the universal movable wheels, according to the claim 1, is characterized in that: the left leg frame and the right leg frame comprise supporting angle steel, a ladder stand, a guide channel steel and a top connecting plate; the supporting angle steels of each side leg frame are distributed, at least 2 supporting angle steels and more than 2 supporting angle steels are arranged, and the upper end and the lower end of each supporting angle steel are respectively assembled and fixed on the connecting plate and the supporting bottom plate; a crawling ladder is arranged on the leg frame on any one of the left side and the right side or on the leg frames on both sides, the crawling ladder is positioned in the middle of the outer side of the leg frame, and the upper end and the lower end of the crawling ladder are respectively and fixedly connected to the connecting plate and the supporting bottom plate; 2 guide channel steel are arranged on each side of the left leg frame and the right leg frame, the 2 guide channel steel on each side are respectively positioned at two ends of one side of the leg frame towards the inside, and the upper end and the lower end of each guide channel steel are respectively fixed on the connecting plate and the supporting bottom plate.
7. The inspection safe operation platform of the tank car based on the control of the universal movable wheels, according to the claim 1, is characterized in that:
the operation opening of seting up in the middle of the platform floor, it is including seting up the opening in platform floor central authorities to and the rectangular shape opening of the same width of opening UNICOM with platform floor central authorities of seting up in lateral wall central authorities, the width of operation open-ended establishes to match with jar body top manhole size, its height of opening on the lateral wall can be with can hold the below with the tank deck curved surface bulge of taking the manhole at least, in order to make things convenient for operating personnel to get into the tank smoothly, be equipped with movable visor on the opening of platform floor central authorities.
8. The inspection safe operation platform of the tank car based on the control of the universal movable wheels, according to the claim 1, is characterized in that: the lifting mechanism for connecting the platform with the left leg frame and the right leg frame comprises a guide bearing, a lifting speed reducer, a screw, a lifting motor and a lifting connecting shaft; wherein the screw rod is arranged in the middle of the inner sides of the left leg frame and the right leg frame, and the left leg frame and the right leg frame are respectively provided with 1 screw rod; the outer sides of the left side and the right side of the platform are respectively provided with 4 guide bearings, and every two guide bearings are arranged in the grooves of the guide channel steel in a pair and are in sliding contact with the guide channel steel; the lifting motor is installed and fixed on a cross beam at the top of the platform, the lifting motor is connected with a lifting connecting shaft through a coupler, the lifting connecting shaft is connected with a lifting speed reducer, the lifting speed reducer is fixed on two sides of the platform and is sleeved with a screw, and the lifting speed reducer is a worm gear speed reducer.
9. The inspection safe operation platform of the tank car based on the control of the universal movable wheels, according to the claim 1, is characterized in that: the universal movable wheel mechanism adopts a Mecanum wheel mechanism and comprises a Mecanum wheel and a wheel driving device; the wheel driving device is a power driving part of the Mecanum wheel and comprises a speed reducer and a driving motor, wherein an inner side shaft rod of the Mecanum wheel is connected with the speed reducer through a coupling, and the speed reducer is connected with the driving motor through a flange; the driving motor performs forward rotation, reverse rotation and speed change through signals output by the control system; the wheel hub direction of the Mecanum wheels is vertical to the long side direction of the chassis, and 2 Mecanum wheels are respectively arranged on each of the left chassis and the right chassis, and the number of the wheels is 4.
10. The universally movable tanker inspection safety work platform according to claim 1, characterized in that: the distance measuring module for detecting the distance between the platform and the tank body in the input system is realized in a laser mode, an infrared mode, an ultrasonic mode or a radar mode.
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Cited By (1)
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| CN115447656A (en) * | 2022-09-13 | 2022-12-09 | 广西新电力投资集团融水供电有限公司 | 10kV switch of transformer substation transports dolly based on mecanum wheel |
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