CN216525507U

CN216525507U - Device for inspecting interior of tank body of railway tank car

Info

Publication number: CN216525507U
Application number: CN202123210540.7U
Authority: CN
Inventors: 赵瑞; 朱凯旋; 雒国财; 张锴; 李翻有; 朱峧波; 陈庆治; 郁陈; 施湖杰; 王刚; 王军; 王璞
Original assignee: Hangzhou North Depot of China Railway Shanghai Group Co Ltd
Current assignee: Hangzhou North Depot of China Railway Shanghai Group Co Ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-05-13
Anticipated expiration: 2031-12-20

Abstract

The utility model relates to the technical field of railway tank cars, in particular to an internal inspection device of a tank body of a railway tank car. Including the winding and unwinding devices, robot dolly and main control system, the winding and unwinding devices erects the manhole position at the tank car, the robot dolly is connected with the winding and unwinding devices, realize the robot dolly through the winding and unwinding devices and put up in the lowering and packing up of manhole position, the main control system is operated at the tank outside by operating personnel, through spring wire communication connection between main control system and the robot dolly, the robot dolly includes automobile body and camera, automobile body bilateral symmetry is provided with the drive track, the camera sets up the upper surface at the automobile body, the fixed connection horizontal pole that is provided with on the automobile body, main control system communication connection has data server. The construction safety of the internal inspection of the tank car is improved, and the internal of the tank car can be comprehensively detected in an all-round manner with high efficiency. The utility model is mainly applied to the tank body inspection of the tank car.

Description

Device for inspecting interior of tank body of railway tank car

Technical Field

The utility model relates to the technical field of railway tank cars, in particular to an internal inspection device for a tank body of a railway tank car.

Background

At present, the service life of a 60-ton railway tank car is basically more than 15 years, most tank cars have the service life of more than 20 years, and the tank body and related accessories are subjected to the action of the pressure of a loading medium for a long time, so that the welding line of the tank body and the related accessories is fatigued, cracks are easily generated in the welding line, and the leakage risk of the tank body exists; aiming at the current situation that leakage accidents of the railway tank car occur frequently in recent years, accidents, fault teaching and special safety treatment of a unit in a pumping road and the unit always follow the accidents, and safety management card control for tank car maintenance is always in a passive situation; the means of tank body welding seam inspection is comparatively laggard, only through artificial naked eye observation, and especially the inspection of tank body inside welding seam quality and technical state is more difficult, and goes into tank inspection safety risk hidden danger great.

At present, a certain short plate exists in quality control in the maintenance operation process of a railway tank car, the weld inspection of a tank body only depends on the appearance inspection of an operator and an inspector on the tank body, the technical inspection of the interior (particularly the bottom of the interior) of the tank body cannot be fully covered, and the implementation process of the inspection and quality control measures of the interior of the tank body cannot be effectively controlled or even out of control.

Therefore, there is a need for improvement of the current inspection operation mode and quality control means for the interior of the tank body of the railway tank car to effectively solve the above problems.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the utility model provides the device for inspecting the interior of the tank body of the railway tank car, the device monitors the entering of a robot into the tank body from a manhole cover of the tank car through an automatic cruising image, records the interior condition of the tank body in the form of images and videos by utilizing a high-definition camera and an auxiliary light source, gives an alarm for suspected crack faults in the tank car by utilizing an image recognition technology, records fault images and positions, stores the images of the interior of the tank body one by one according to the vehicle after the inspection of each tank car is finished, and can inspect the images of the interior of the tank body according to the direction of the interior of the tank body. Meanwhile, the tank body fault of the tank car is pre-judged in advance through modeling analysis according to the tank car type, service life, maintenance conditions, historical faults and other data, and powerful technical support is provided for railway tank car maintenance management and quality control.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:

the device for inspecting the interior of the tank body of the railway tank car comprises a winding and unwinding device, a robot trolley and a control host, wherein the winding and unwinding device is erected at the manhole position of the tank car, the robot trolley is connected with the winding and unwinding device, the robot trolley is placed and folded at the manhole position through the winding and unwinding device, the control host is operated outside the tank car by an operator, the control host is in communication connection with the robot trolley through a spring wire, the robot trolley comprises a trolley body and a camera, driving tracks are symmetrically arranged on two sides of the trolley body, the camera is arranged on the upper surface of the trolley body, a connecting cross rod is fixedly arranged on the trolley body, and the control host is in communication connection with a data server.

The retractable device is characterized in that a tripod is adopted, the tripod comprises a top disc and three supporting legs, the supporting legs are hinged to the bottom of the top disc at equal intervals, a positioning clamp is arranged at the bottom of each supporting leg, and a groove matched with the edge of a manhole is formed in the lower end of each positioning clamp.

The lifting ring is arranged at the central position of the bottom of the top plate, the winch is arranged on the supporting leg, the lifting rope is connected to the winch, and one end, far away from the winch, of the lifting rope penetrates through the lifting ring and then is connected with the connecting cross rod.

The bottom end of the lifting rope is fixedly provided with a lifting hook which is hooked on the connecting cross rod and used for being arranged below and recovered from the robot trolley.

The lifting hook adopts a three-jaw lifting hook.

The front end of the vehicle body is provided with a lighting lamp.

An infrared sensor is arranged on the camera.

And the front end of the vehicle body is provided with an ultrasonic obstacle avoidance sensor.

The camera adopts a pan-tilt camera.

The control host adopts an industrial three-proofing tablet personal computer.

Compared with the prior art, the utility model has the beneficial effects that:

the retraction device can be fixed at the position of a manhole of the tank car, and the robot trolley is stably lowered and recovered through a tripod; the detection work of the inner wall of the tank car is finished by utilizing the robot trolley, the system can transmit images of obvious defect faults such as light transmission, cracking, serious deformation and the like of the tank body to the control host, and meanwhile, the fault part can be accurately positioned by the ultrasonic obstacle avoidance sensor and the infrared sensor, so that the mode and method for detecting the tank car are enriched, and the intelligent maintenance of the railway freight car is promoted; the inner wall of the tank car can be observed at multiple angles without dead angles, and the manual operation of entering the tank car for car inspection operation is completely replaced; the robot trolley and the control host complete wired communication connection through the spring wire, so that the weight of the robot trolley is reduced, and meanwhile, the robot trolley is convenient for operators to operate. The device finishes the detection work on the interior of the tank car through the trolley entering the interior of the tank car, transmits the detection result to the control host, and finally inputs the detection result to the data server for comprehensive analysis processing. The construction safety of the interior inspection of the tank car is improved, and the interior of the tank car can be comprehensively detected in an all-round manner efficiently.

Drawings

FIG. 1 is a schematic representation of the use of the present invention;

FIG. 2 is a schematic view of a tripod part according to the present invention;

FIG. 3 is a side view of a portion of a robot cart in accordance with the present invention;

FIG. 4 is a partial front view of the robot car of the present invention;

FIG. 5 is a schematic diagram of information transmission according to the present invention;

in the figure: the system comprises a manhole 1, a tripod 2, a top plate 3, a supporting leg 4, a positioning clamp 5, a winch 6, a lifting ring 7, a lifting hook 8, a lifting rope 9, a robot trolley 10, a vehicle body 11, a driving crawler 12, a camera 13, a lighting lamp 14, an ultrasonic obstacle avoidance sensor 15, an infrared sensor 16, a connecting cross rod 17, a spring wire 18, a control host 19 and a data server 20.

Detailed Description

The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.

As shown in fig. 1 to 5, the internal inspection device of the tank body of the railway tank car comprises a retraction device, a robot trolley 10 and a control host 19, wherein the retraction device is erected at the position of a manhole 1 of the tank car, the robot trolley 10 is connected with the retraction device, realize the transfer and pack up of robot dolly 10 in manhole 1 position through winding and unwinding devices, control host 19 is operated at the car jar outside by operating personnel, through spring wire 18 communication connection between control host 19 and the robot dolly 10, spring wire 18 is connected with the control module on the robot dolly 10, control module adopts the singlechip, robot dolly 10 includes automobile body 11 and camera 13, automobile body 11 bilateral symmetry is provided with drive track 12, camera 13 sets up the upper surface at automobile body 11, fixed connection horizontal pole 17 that is provided with on the automobile body 11, drive track 12 and camera 13 all with control module electric connection, control host 19 communication connection has data server 20. The robot trolley 10 is placed into the tank car from the manhole 1 through the collecting and releasing device, an operator controls the robot trolley 10 through the control host 19, the robot trolley can move according to a set track or an artificial control track, video recording is carried out through the camera 13 in the moving process, key parts are photographed, data returning is finally completed, and video and image information can be stored in the data server 20.

Preferably, the winding and unwinding devices adopt a tripod 2, the tripod 2 comprises a top disc 3 and supporting legs 4, the top disc 3 adopts a circular disc structure, the supporting legs 4 are provided with three, the supporting legs 4 are hinged to the bottom of the top disc 3 at equal intervals, positioning clamps 5 are arranged at the bottoms of the supporting legs 4, and grooves matched with the edges of the manhole 1 are formed in the lower ends of the positioning clamps 5. The supporting legs 4 can be opened at any angle, and can be clamped at the edge of the manhole 1 to be fixed after being opened to a proper angle.

Preferably, a hanging ring 7 is arranged at the center of the bottom of the top plate 3, the hanging ring 7 is a circular ring structure, the hanging ring 7 is fixedly arranged on the lower surface of the top plate 3, a winch 6 is arranged on the supporting leg 4, a lifting rope 9 is connected to the winch 6, and one end, far away from the winch 6, of the lifting rope 9 penetrates through the hanging ring 7 and then is connected with a connecting cross rod 17. The winch 6 is provided with a descent control device and can descend slowly when the robot trolley 10 is placed down; when the robot trolley 10 is recovered, the winch 6 is provided with a one-way ratchet mechanism to avoid sudden falling.

Preferably, the bottom end of the lifting rope 9 is fixedly provided with a lifting hook 8, and the lifting hook 8 is hooked on the connecting cross rod 17 and used for the lower part and the recovery of the robot trolley 10.

Preferably, the hook 8 is a three-jaw hook. The three-jaw lifting hook can be stably hooked on the connecting cross rod 17 to recover things, and the three-jaw lifting hook is convenient to hook the connecting cross rod 17 so as to hook the robot trolley 10.

Preferably, the front end of the vehicle body 11 is provided with an illumination lamp 14. The illuminating lamp 14 adopts a high-brightness LED lamp bead.

Preferably, the camera 13 is provided with an infrared sensor 16. The infrared sensor 16 is electrically connected with a control module of the robot trolley 10, and the position of a crack or a fault in the tank car can be accurately positioned through the infrared sensor 16.

Preferably, the front end of the vehicle body 11 is provided with an ultrasonic obstacle avoidance sensor 15. The ultrasonic obstacle avoidance sensor 15 is electrically connected with a control module of the robot trolley 10, and the position of the robot trolley 10 in the tank car can be located through the ultrasonic obstacle avoidance sensor 15.

Preferably, the camera 13 is a pan-tilt camera. The camera 13 carries a two-axis unlimited pan-tilt, and the camera 13 can be controlled to rotate in all directions without dead angle monitoring. The camera 13 integrally adopts two-axis rotation, so that the ground condition is conveniently observed, and the camera 13 is prevented from being too close to the ground and too small in field.

Preferably, the control host 19 is an industrial three-proofing tablet computer. The operator can control the movement track of the robot car 10 by controlling the host 19, grasp the positioning of the robot car 10 and the shooting angle of the camera 13, and complete the information acquisition operation.

The tripod 2 is erected at the upper edge of the manhole 1, the robot trolley 10 is connected with the control host 19 through the spring wire 18, the robot trolley 10 is placed through the lifting rope 9, the contraction length of the spring wire 18 is about 1.5 meters and can be prolonged to 12 meters at most, an operator sets the movement track of the robot trolley 10 through the control host 19 or directly operates the control host 19 to control the traveling path of the robot trolley 10, the ultrasonic obstacle avoidance sensor 15 can position the robot trolley 10 in a tank car, and fault finding and image recording of the tank car body are respectively carried out through the infrared sensor 16 and the camera 13. The collected image information is transmitted to the data server 20 via the control host 19 for comprehensive analysis processing.

Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.

Claims

1. Inside inspection device of tank body of tank car, its characterized in that: comprises a retraction device, a robot trolley (10) and a control host (19), wherein the retraction device is erected at the position of a manhole (1) of a tank car, the robot trolley (10) is connected with the retraction device, the robot trolley (10) is placed and retracted in the manhole (1) through the retraction device, the control host (19) is operated by an operator outside the tank, the control host (19) is in communication connection with the robot trolley (10) through a spring wire (18), the robot trolley (10) comprises a trolley body (11) and a camera (13), the automobile body (11) bilateral symmetry is provided with drive track (12), camera (13) set up the upper surface at automobile body (11), and fixed being provided with on automobile body (11) connects horizontal pole (17), control host (19) communication connection has data server (20).

2. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: the retractable device is characterized in that the retractable device is provided with a tripod (2), the tripod (2) comprises a top disc (3) and supporting legs (4), the supporting legs (4) are provided with three pieces, each supporting leg (4) is hinged to the bottom of the top disc (3) in an equal distance mode, each supporting leg (4) is provided with a positioning clamp (5) in the bottom, and a groove matched with the edge of the manhole (1) is formed in the lower end of the positioning clamp (5).

3. The inside inspection device of a tank body of a railway tank car as claimed in claim 2, wherein: the center position of top dish (3) bottom is provided with rings (7), be provided with capstan winch (6) on landing leg (4), be connected with lifting rope (9) on capstan winch (6), the one end that lifting rope (9) kept away from capstan winch (6) is passed rings (7) back and is connected with connecting horizontal pole (17).

4. The inside inspection device of a tank body of a railway tank car as claimed in claim 3, wherein: the bottom end of the lifting rope (9) is fixedly provided with a lifting hook (8), and the lifting hook (8) is hooked on the connecting cross rod (17) and used for being recovered below the robot trolley (10).

5. The inside inspection device of a tank body of a railway tank car as claimed in claim 4, wherein: the lifting hook (8) adopts a three-jaw lifting hook.

6. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: the front end of the vehicle body (11) is provided with an illuminating lamp (14).

7. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: an infrared sensor (16) is arranged on the camera (13).

8. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: the front end of the vehicle body (11) is provided with an ultrasonic obstacle avoidance sensor (15).

9. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: the camera (13) adopts a pan-tilt camera.

10. The inside inspection device of a tank body of a railway tank car as claimed in claim 1, wherein: the control host (19) adopts an industrial three-proofing tablet personal computer.