CN218766672U

CN218766672U - Inner wall detection robot under diesel tank oil storage state

Info

Publication number: CN218766672U
Application number: CN202222853675.3U
Authority: CN
Inventors: 李明伟; 潘玉珍; 孟长功
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-03-28
Anticipated expiration: 2032-10-28

Abstract

The utility model belongs to the robot field relates to an inner wall inspection robot under diesel tank oil storage state, including main body frame structure, preceding supporting structure, camera, cloud platform, electrical seal box, control and communication seal box, battery seal box, drive distribution circuit seal box, the electro-magnet is stabilized to the gesture, up-and-down motion impeller and parallel motion impeller. The utility model discloses a to the regular inner wall state detection of diesel tank, the image stabilization is clear, provides reliable data for the state analysis. The special detection requirement can be made on the parts which are not reassured by engineers at any time. The detection is characterized in that the oil tank is detected in an oil storage state, and the long-term uninterrupted safe operation of the oil tank is ensured.

Description

Inner wall detection robot under diesel tank oil storage state

Technical Field

The utility model belongs to the robot field relates to a diesel tank inner wall inspection robot under oil storage state.

Background

The diesel tank has the structure that: the interior of the detection robot device is provided with a plurality of isolation cabins, specific channels are arranged among the isolation cabins, and a plurality of reinforcing ribs are arranged in the cabins, the height of the reinforcing ribs is 15-25 cm, and the detection robot device is required to pass through flexibly. The inlet of the oil tank is small, so that the maximum length and width of the detection robot device cannot be larger than the allowable range of the inlet. The corrosion point of observation is small, and a high-definition lens is required to be adopted for close range observation, so that the device cannot shake during shooting work, and the lens has a focusing function. Meanwhile, the visual field space and the detection angle are as large as possible, and the observation efficiency is improved. Because the transparency of the diesel oil in the tank is low, the tank does not have natural light, and a high-power infrared light source and a visible light indicating light source must be carried.

At present, diesel oil needs to be manually detected after being discharged from an empty tank, a large amount of manpower, material resources and time are needed, and hidden dangers such as corrosion hidden dangers and missing detection during manual detection cannot be found in time. The existing related detection robots comprise an underwater image detection robot and a pipeline image detection robot, which are not suitable for oil tank detection because: (1) no observation in turbid liquids; (2) the volume is large and is not suitable for the inlet of the oil tank; small size without close-range focusing space; (3) The device is not provided with a posture stabilizing device and is difficult to fix on a slope and a smooth part; (4) no ability to move and stabilize in complex structures; (5) The water-resistant sealing method is not completely effective for oil-resistant sealing.

Therefore, a detection robot for dynamic image inspection in the oil storage state of a large diesel tank is needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides an inner wall inspection robot under diesel tank oil storage state.

The technical scheme of the utility model:

a robot for detecting the inner wall of a diesel tank in an oil storage state comprises a main body frame structure 1, a front supporting structure 2, a camera 3, a cloud deck 4, an electric sealing box 5, a control and communication sealing box 6, a battery sealing box 7, a driving distribution circuit sealing box 8, an attitude stabilizing electromagnet 9, an up-and-down motion pusher 10 and a parallel motion pusher 11.

The main body frame structure 1 is a square frame structure with openings at the bottom and the front part, a long-strip opening is arranged on the top surface of the main body frame structure, the cradle head 4 is of a vertical structure and is arranged on the side wall of the opening at the top surface, the camera 3 is arranged on the cradle head 4, and the cradle head 4 drives the camera 3 to carry out angle adjustment so as to observe the conditions of all positions in the diesel tank oil storage; the two front supporting structures 2 are symmetrically arranged at the front part of the main body frame structure 1 and are connected with the top surface and the side surface of the main body frame structure 1.

The four posture stabilizing electromagnets 9 are symmetrically arranged at four corners of the bottom of the main body frame structure 1 respectively; the up-and-down moving pusher 10 is provided with four blocks which are respectively and symmetrically arranged at four corners of the top of the main body frame structure 1; the parallel movement pusher 11 has four blocks, which are respectively and symmetrically installed in the middle of four edges of the main body frame structure 1 in the vertical direction.

The electric sealing box 5 and the driving distribution circuit sealing box 8 are respectively arranged on the left side wall and the right side wall of the main body frame structure 1; the control and communication sealing box 6 and the battery sealing box 7 are arranged on the rear side wall of the main body frame structure 1; an electric control unit is arranged in the electric sealing box 5, a driving distribution circuit unit is arranged in the driving distribution circuit sealing box 8, a control and communication unit is arranged in the control and communication sealing box 6, and a battery is arranged in the battery sealing box 7; the control and communication unit is bidirectionally connected with the battery, the electric control unit is connected with the driving distribution circuit unit and the battery, and the driving distribution circuit unit is connected with the up-and-down movement pusher 10 and the parallel movement pusher 11; the control and communication unit is connected with the electric control unit, the drive distribution circuit unit, the camera 3, the holder 4 and the attitude stabilizing electromagnet 9.

The utility model has the advantages that: the utility model discloses a to the regular inner wall state detection of diesel tank, the image stabilization is clear, provides reliable data for the state analysis. The special detection requirement can be made on the parts which are not reassured by engineers at any time. The detection is characterized in that the oil tank is detected in an oil storage state, and the long-term uninterrupted safe operation of the oil tank is ensured.

Drawings

Fig. 1 is an overall schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of the connection relationship between power supply and signal.

In the figure: 1, a main body frame structure; 2, a front support structure; 3, a camera; 4, a tripod head; 5, electrically sealing the box; 6 control and communication seal box; 7, a battery sealing box; 8 driving the distribution circuit sealing box; 9 attitude stabilizing electromagnets; 10 moving the pusher up and down; 11 parallel movement of the pusher.

Detailed Description

The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.

As shown in fig. 1, the utility model discloses an inner wall inspection robot under diesel tank oil storage state, including main frame structure 1, preceding supporting structure 2, camera 3, cloud platform 4, electric seal box 5, control and communication seal box 6, battery seal box 7, drive distribution circuit seal box 8, four gesture stabilizing electromagnet 9, four up-and-down motion pushers 10 and four parallel motion pushers 11. An electric control unit is arranged in the electric sealing box 5, a driving distribution circuit unit is arranged in the driving distribution circuit sealing box 8, a control and communication unit is arranged in the control and communication sealing box 6, and a battery is arranged in the battery sealing box 7; the connection relationship of the power supply and the signal is as shown in fig. 2, the control and communication unit is connected with the battery in a bidirectional way, the electric control unit is connected with the driving distribution circuit unit and the battery, and the driving distribution circuit unit is connected with the up-and-down movement pusher 10 and the parallel movement pusher 11; the control and communication unit is connected with the electric control unit, the drive distribution circuit unit, the camera 3, the holder 4 and the attitude stabilizing electromagnet 9; the observation light source and the indicating light can be simultaneously or respectively connected with the electric control unit or the control and communication unit. All the wiring is arranged on the peripheral frame and cannot obstruct the middle visual space.

The specific structural arrangement is introduced as follows:

main part frame construction 1 is bottom and anterior open-ended frame construction, and its top surface is equipped with rectangular opening, reserves out visual space for the camera, is convenient for direct observation lower part, the place ahead and top region. Since the maximum length of the whole structure of the robot in the embodiment is not more than 500mm, the length of the camera 3 is 120-180 mm, and the camera 3 can not be installed in the range of the frame of 500mm, the center point of the camera 3 is located in the front one third of the main body frame structure 1. When the lens faces downwards, the distance between the lens faces and the bottom face is about 200mm, the reliable focusing visual field is achieved, and the middle lower portion inside the robot structure is completely empty and serves as a lower visual field space and is also a main observation area. The camera 3 is used for shooting the real-time condition in the diesel tank, and no shelters are arranged in the front direction and the upper direction of the camera 3, so that the visual field is good; the front supporting structure 2 is connected with two sides of the main body frame structure 1 in a reinforcing mode and is fixedly installed with a central shaft of the holder 4, so that the structure of the open part is stable; the holder 4 can drive the camera 3 to rotate within a range of plus or minus 90 degrees, and is provided with 2 supporting points of a motor shaft driven by a central shaft and a gear, so that the camera 3 is ensured not to vibrate in a static state; the holder 4 can also adopt a structure above the camera 3, and the maximum static height of the holder 4 is required to be not higher than the upper plane of the robot, so that the whole appearance of the robot has no unstable convex part and is convenient to operate; the camera 3 is provided with a zoom belt to ensure the definition of close-range observation. The camera 3 is provided with a high-power multi-wavelength combined infrared light source, and is suitable for dark environments with poor transparency due to long-term storage of oil products.

The stable electro-magnet 9 of four foot installation of main body frame construction 1 because the bottom of horizontal jar is the arc and very smooth, hardly stops naturally in the place that the slope is great, and the robot moves the observation point to stabilize electro-magnet 9 and hold jar wall and stabilize the gesture. The control and communication seal box 6 and the battery seal box 7 are heavy, are installed at the rear of the main body frame structure 1, and are in gravity balance with the camera 3 with the front and rear center of gravity substantially at the center point. The control and communication unit in the control and communication sealing box 6 comprises a main controller, a network communicator, a signal conversion circuit and the like, and is used for controlling the camera 3 to photograph and upload data to a computer end, and controlling the camera 3 to rotate so as to adjust the photographing angle of the camera 3, the adsorption and release of the posture stabilizing electromagnet 9, the up-and-down movement pusher 10 and the switch of the parallel movement pusher 11. The left side is provided with an electrical sealing box 5 which is internally provided with an electrical controller and an electrical safety device. The right side of the main body frame structure 1 is provided with a drive distribution circuit sealing box 8, drive circuits of all motors are arranged in the sealing box, speed and rotation direction of each motor can be controlled, and a serial command of a main controller is received. 4 up-and-down moving pushers 10 are arranged at 4 corners of the upper part of the main body frame structure 1, 4 parallel moving pushers 11 are arranged in the middle of four sides of the vertical installation, the installation direction is vertically deviated by 45 degrees, and 8 pushers can be controlled to realize the movement and the rotation in any direction. All the positions of the capsule and the actuator and the fixed positions of the wiring are on four sides, and do not affect the downward detection space of the camera 3. And a proper amount of gravity and buoyancy materials can be arranged at a proper position, so that the whole mechanical balance of the robot device is reasonable, and the robot device is stable in movement and cannot topple over uncontrollably. And a proper amount of buoyancy material is arranged at a proper position, so that the robot can reliably rise to move. A white spotlight with a focusing angle of 60-90 degrees can be further arranged in the upward direction of the upper surface of the main body frame structure 1 and is connected with an electric control unit to be used as an indication for a person to observe the robot at the entrance and exit position.

Except the space for placing the equipment, the robot is empty in other places to reduce the motion resistance. The maximum transverse dimension of the robot is smaller than the size of the inlet of the oil tank, so that smooth access is ensured. The height of the robot is smaller than the transverse maximum size, so that the lower gravity center and the stable posture are ensured.

Claims

1. The robot for detecting the inner wall of the diesel tank in the oil storage state is characterized by comprising a main body frame structure (1), a front support structure (2), a camera (3), a cloud deck (4), an electric sealing box (5), a control and communication sealing box (6), a battery sealing box (7), a driving distribution circuit sealing box (8), an attitude stabilizing electromagnet (9), an up-and-down movement pusher (10) and a parallel movement pusher (11);

the main body frame structure (1) is a square frame structure with openings at the bottom and the front part, a long-strip opening is arranged on the top surface of the main body frame structure, the cradle head (4) is of a vertical structure and is arranged on the side wall of the opening of the top surface, the camera (3) is arranged on the cradle head (4), and the cradle head (4) drives the camera (3) to adjust the angle so as to observe the conditions of all positions in the diesel tank oil storage; the two front supporting structures (2) are symmetrically arranged at the front part of the main body frame structure (1) and are connected with the top surface and the side surface of the main body frame structure (1);

the four posture stabilizing electromagnets (9) are symmetrically arranged at four corners of the bottom of the main body frame structure (1); the four up-and-down motion pushers (10) are symmetrically arranged at four corners of the top of the main body frame structure (1) respectively; the four parallel motion pushers (11) are respectively and symmetrically arranged in the middle of four edges of the main body frame structure (1) in the vertical direction;

the electric sealing box (5) and the driving distribution circuit sealing box (8) are respectively arranged on the left side wall and the right side wall of the main body frame structure (1); the control and communication sealing box (6) and the battery sealing box (7) are arranged on the rear side wall of the main body frame structure (1); an electric control unit is arranged in the electric sealing box (5), a driving distribution circuit unit is arranged in the driving distribution circuit sealing box (8), a control and communication unit is arranged in the control and communication sealing box (6), and a battery is arranged in the battery sealing box (7); the control and communication unit is bidirectionally connected with the battery, the electric control unit is connected with the driving distribution circuit unit and the battery, and the driving distribution circuit unit is connected with the up-and-down movement pusher (10) and the parallel movement pusher (11); and the control and communication unit is connected with the electric control unit, the drive distribution circuit unit, the camera (3), the holder (4) and the attitude stabilizing electromagnet (9).

2. The robot for inspecting the inner wall of the diesel tank in the oil storage state as claimed in claim 1, wherein the camera (3) is fully sealed and zooms and carries a high-power multi-wavelength combined infrared light source.

3. The robot for inspecting the inner wall of the diesel tank in the oil storage state according to claim 1 or 2, wherein a white spotlight having a focusing angle of 60 ° to 90 ° is installed in the upward direction of the upper surface of the main body frame structure (1) and is connected to the electric control unit.