Railway tank car explosion-proof inspection robot

Abstract

This invention relates to the field of inspection robot technology, specifically to an explosion-proof inspection robot for railway tank cars. Used in conjunction with a track, it includes a movable base, an electric push rod, a pull rope assembly, and an inspection device. It also includes a sealing assembly, an exhaust assembly, and a compensation assembly. The sealing assembly is connected to the bottom of the electric push rod. The compensation assembly includes a bottom shell, an upper membrane, a connecting plate, a lower membrane, and a water inlet pipe. The bottom shell is connected to the bottom of the sealing assembly, and the upper membrane is connected to the outer wall of the sealing assembly, forming a compensation cavity with the bottom shell and the sealing assembly. This invention achieves dynamic pressure balance inside the tank by injecting cold water into the tank using the compensation assembly, maintaining the exhaust efficiency of the exhaust assembly. The injected cold water also cools the inside of the tank, accelerating its cooling process. Furthermore, the expansion of the compensation cavity in the compensation assembly during cold water injection further improves the sealing effect between the sealing assembly and the tank opening.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, specifically to an explosion-proof inspection robot for railway tank cars. Background Technology

[0002] Railway tank cars are a type of train used to transport oil. After long-term use, oil sludge accumulates inside the tanks, requiring workers to regularly enter and clean them. However, when transporting gasoline, the gasoline evaporates inside the tanks, producing various toxic gases such as methane, ethylene, benzene, and toluene. These gases can easily harm workers during cleaning. Therefore, before cleaning, the tanks need to be vented. Then, high-temperature, high-pressure water is used to flush the inner walls of the tanks, softening the oil sludge and making it easier for workers to enter for cleaning. This also removes some toxic gases. After flushing, the water inside the tanks is drained, and the gas concentration inside the tanks is tested. Only after the test is passed can workers enter the tanks. Because the internal temperature of the tanks is relatively high after being flushed with hot water, especially in summer, it is also necessary to pour cool water onto the outer walls of the tanks to lower the internal temperature. Only when the temperature drops to a suitable level will workers enter the tanks for further cleaning.

[0003] The existing inspection method involves extending an inspection robot into the tank using a telescopic rod. If the inspection fails, the tank needs to be vented again. However, the tank has already been vented, and because the toxic gases inside the tank have different volatility and diffusion rates, lighter gases (such as methane and ethylene) rise faster, while heavier gases (such as benzene and toluene) tend to settle at lower levels. As a result, the gases are unevenly distributed inside the tanker truck according to their physical properties, forming different gas phase layers that are difficult to expel naturally in a short time.

[0004] To address this, a robot for detecting explosions in railway tank cars was proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an explosion-proof detection robot for railway tank cars. To solve the problem of the inability to quickly expel toxic gases inside the tank in a short period of time, an exhaust component is set up to move along with the detection device to exhaust gases from the location where the concentration of toxic gases exceeds the standard. At the same time, a sealing component seals the tank opening, preventing a large amount of air from entering the tank and mixing with the toxic gases during exhaust, thus avoiding affecting the exhaust efficiency and preventing toxic gases from leaking from the tank opening. In addition, a compensation component is used to inject cold water into the tank to maintain a dynamic balance of air pressure inside the tank and maintain exhaust efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This railway tank car explosion-proof inspection robot, used in conjunction with a track, includes a movable base, an electric push rod, a pull rope assembly, and an inspection device. It also includes a sealing assembly, an venting assembly, and a compensation assembly. The sealing assembly is connected to the bottom of the electric push rod. The compensation assembly includes a bottom shell, an upper membrane, connecting plates, a lower membrane, and a water inlet pipe. The bottom shell is connected to the bottom of the sealing assembly. The upper membrane is connected to the outer wall of the sealing assembly, forming a compensation cavity with the bottom shell and the sealing assembly. Two connecting plates are connected to the bottom of the sealing assembly. The lower membrane is connected to the outer wall of the connecting plates, forming a connecting pipe with the connecting plates. The compensation cavity communicates with the connecting pipe. The water inlet pipe is connected to the sealing assembly and communicates with the compensation chamber. Water is transported into the compensation chamber through an external water pump connected to the water inlet pipe. The venting assembly is slidably connected to the connecting plate. The detection device is connected above the venting assembly. The pull rope assembly is connected to the venting assembly. The sealing assembly is pushed downward by an electric push rod and made to fit against the inner wall of the tank opening. At the same time, it drives the compensation assembly downward and into the tank. The pull rope assembly drives the detection device to move inside the tank through the venting assembly. The venting assembly extracts gas from inside the tank while water is injected into the tank through the compensation assembly.

[0008] In the above scheme, to better expel toxic gases when excessive concentrations are detected, the tank opening is sealed using a sealing component, keeping the tank in a sealed state. This prevents outside air from entering the tank and mixing with the toxic gases during gas extraction, thus avoiding the exhaust gas containing a large amount of air and affecting extraction efficiency. Furthermore, sealing the tank opening also prevents the leakage of toxic gases during detection, thus preventing harm to nearby workers. Because a closed space is created, water is injected into the tank through a compensation component during exhaust to better expel the internal gases. Since the tank is sealed, the internal pressure during exhaust is controlled. The pressure is continuously reduced, and the reduced pressure is compensated by injecting water. Because high-temperature and high-pressure water is used to flush the inner wall of the tank before cleaning, the internal temperature is relatively high after flushing. The water discharged also has a cooling effect on the inside, making it easier for workers to enter the inside for subsequent cleaning. Because the compensation component is connected to the outer wall of the sealing component, and the upper membrane is made of elastic material, it plays a protective role when the sealing component is in contact with the tank opening. Furthermore, the expansion of the compensation cavity when water is injected into the tank further improves the sealing effect. After the test is completed, the water injected into the tank can also be used as cleaning water. After the inside of the tank is cleaned, the drain port at the bottom of the tanker truck is opened to drain the injected water.

[0009] Preferably, the sealing assembly includes a positioning block, a sealing block, left and right positioning plates, and front and rear positioning plates. The front and rear positioning plates are connected to the bottom of the electric push rod. The left and right positioning plates are slidably connected to the bottom of the front and rear positioning plates. The sealing block is slidably connected to the bottom of the left and right positioning plates. The positioning block is connected to the bottom of the sealing block, and the cross-section of the positioning block is trapezoidal with the narrow end facing downward.

[0010] Existing technologies already have positioning mechanisms that allow the detection device to enter the tank well, but they cannot accurately locate the center position of the tank opening. In the above solution, in order to find the center position, the bottom of the positioning block is first inserted into the tank opening. Since the diameter of the bottom of the positioning block is smaller than the diameter of the tank opening, it is only necessary to lock the approximate position of the tank opening, and the bottom of the positioning block can enter the tank opening. When the positioning block is pushed down, it is pushed by the inner wall of the tank opening, which causes the sealing block to slide at the bottom of the left and right positioning plates and the front and rear positioning plates, thereby adjusting the position of the sealing block to find the center position of the tank opening, so that the sealing block fits tightly against the inner wall of the tank opening.

[0011] Preferably, the exhaust assembly includes a float, an air intake chamber, and an exhaust pipe. The float is connected to a connecting plate, which passes through a through hole. The air intake chamber is located inside the float and has feed inlets on both its upper and lower sides. A first moving rod is movably connected inside the air intake chamber. A first baffle is connected to the lower end of the first moving rod, and a first spring is connected above the first baffle. The exhaust pipe is connected to the top of the float and communicates with the air intake chamber. The top of the exhaust pipe is connected to a positioning block and extends to the outside. The top of the exhaust pipe is connected to an existing pump.

[0012] In the above scheme, the exhaust assembly is installed on a float plate, and the float plate drives the detection device to move up and down, so that the air intake chamber is always located in the toxic gas phase layer. Because the toxic gas will form a gas phase layer inside the tank, the float plate is driven by the pull rope assembly to move the detection device up and down, so that it can detect at different heights inside the tank. When it encounters a high concentration position, it stops, so that the air intake chamber is in a high concentration position, which makes it easier to exhaust the gas. When the detection device is in a relatively low position, in order to avoid the influence of water injection on the detection device, when the water level exceeds the position of the detection device, the water will lift the detection device through the float plate. Because the toxic gas is not soluble in water, the toxic gas will also rise with the rise of the liquid level, so that the air intake chamber is always located in the gas phase layer.

[0013] Preferably, a connecting membrane is provided at the connection between the compensation cavity and the connecting pipe, and the cross-section of the connecting membrane is funnel-shaped.

[0014] In the above scheme, when there is water on the inner wall of the compensation chamber, the water will push the connecting membrane to open and form an outlet with a diameter smaller than that of the inlet pipe, so that there is a certain pressure inside the compensation chamber and the volume expands, thereby improving the sealing effect of the tank opening. When there is no water, the connecting membrane will shrink on its own, sealing the connection between the compensation chamber and the connecting pipe, preventing toxic gases from being discharged from the connecting pipe.

[0015] Preferably, the bottom shell has an inverted U-shaped cross-section, with an inner diameter larger than the outer diameter of the float plate.

[0016] In the above scheme, when the positioning block moves downward, in order to avoid the float plate impacting the inner wall of the tank opening, the bottom shell is set into an inverted U-shape, so that a protective groove is formed at the bottom. When moving downward, the float plate is retracted into the protective groove, thereby avoiding impact.

[0017] Preferably, the lower membrane cross-section is arc-shaped, with the center located on the side away from the connecting plate, and the detection device is attached to the outer wall of the lower membrane.

[0018] In the above scheme, since the inside of the tank is at a high temperature during testing, the detection device is placed inside the groove of the lower membrane. When toxic gas exceeding the standard is detected, cold water is injected into the compensation chamber and connecting pipe through the water inlet pipe. The cold water comes into contact with the lower membrane and cools down the detection device, thereby reducing the impact of the high temperature inside the tank on the detection device and improving the service life of the detection device.

[0019] Preferably, a second moving rod is slidably connected to the inner wall of the positioning block, a second baffle is connected to the bottom of the second moving rod, a second spring is connected above the second baffle, a discharge port is opened at the bottom of the bottom shell, the second baffle and the discharge port cooperate, and the inlet and the discharge port cooperate.

[0020] In the above scheme, when the test is completed, the float is driven by the rope assembly to move the test device upward, and the inlet and outlet are connected. At this time, the first moving rod is connected to the second baffle. The second baffle blocks the inlet below the float by pushing the first moving rod, while the first moving rod pushes the second baffle to move upward and open the outlet, thereby connecting the air inlet chamber and the compensation chamber. The pump then extracts water from the inner wall of the compensation chamber, reducing the pressure between the sealing block and the tank opening, making it easier to open the tank opening. At the same time, after the water enters the air inlet chamber, it discharges all the toxic gases remaining in the air inlet chamber and the exhaust pipe, preventing the leakage of toxic gases remaining on the inner wall of the pipe when the test device comes out of the tank, which would cause harm to the workers.

[0021] Preferably, the cross-sections of the inlet and outlet are both isosceles trapezoids, and the cross-section of the float is T-shaped.

[0022] In the above scheme, the cross-sections of both the inlet and outlet are set as isosceles trapezoids to achieve a better sealing effect when the inlet and outlet are connected. The float is set as a T-shape so that the inlet below the float is far away from the water surface, thereby preventing water from blocking the inlet below the float and affecting the exhaust effect.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] 1. By setting up a compensation component, cold water is injected into the tank, which achieves dynamic balance of air pressure inside the tank, maintains the exhaust efficiency of the exhaust component, and the injected cold water cools the inside of the tank, accelerating the cooling of the tank. At the same time, it can also be used as cleaning water for subsequent cleaning. Furthermore, when cold water is injected, the compensation chamber in the compensation component expands, further improving the sealing effect between the sealing component and the tank opening.

[0025] 2. By setting up an exhaust assembly, the float plate and the detection device are set together, so that the air inlet chamber moves with the detection device. When an area with excessive gas concentration is detected, the exhaust assembly can directly extract air from that area, improving the extraction efficiency. At the same time, the float plate is connected to the connecting plate, so that the detection device is in close contact with the outer wall of the lower membrane. This allows the cold water inside the connecting pipe to cool the detection device, reducing the impact of high temperature on the detection device and improving the service life of the detection device.

[0026] 3. By setting up an inlet and an outlet, the inlet is located on the upper and lower sides of the air inlet chamber, which can better draw the gas in the gas phase layer into the exhaust pipe. At the end of the test, the water in the compensation chamber is discharged by connecting the inlet and the outlet, which reduces the pressure of the sealing component and the tank opening, thus facilitating the separation of the sealing component and the tank opening. In addition, the water entering the exhaust component can push out the toxic gas remaining in the exhaust component. Attached Figure Description

[0027] Figure 1 It is a schematic structural diagram of the present invention as a whole;

[0028] Figure 2 This is a schematic diagram of the front cross-section of the present invention;

[0029] Figure 3 This is a schematic diagram of a side cross-section of the present invention;

[0030] Figure 4 For the present invention Figure 2 Enlarged structural diagram of section A;

[0031] Figure 5 This is a schematic diagram of the connecting plate of the present invention;

[0032] Figure 6 For the present invention Figure 3 Enlarged structural diagram of part B

[0033] Figure 7 This is a schematic diagram of the structure of the floating plate of the present invention.

[0034] Figure 8 For the present invention Figure 7 Enlarged structural diagram of section C

[0035] Figure 9 This is a schematic diagram of the structure when the inlet and outlet of the present invention are connected.

[0036] In the diagram: 1. Track; 2. Movable seat; 3. Electric push rod; 4. Pull rope assembly; 5. Detection device; 6. Sealing assembly; 601. Positioning block; 602. Sealing block; 603. Left and right positioning plates; 604. Front and rear positioning plates; 7. Exhaust assembly; 701. Float plate; 702. Air inlet; 7021. Feed inlet; 7022. First moving rod; 7023. First baffle; 7024. First spring; 703. Exhaust pipe; 704. Through hole; 8. Compensation assembly; 801. Bottom shell; 8011. Second moving rod; 8012. Second baffle; 8013. Second spring; 8014. Discharge port; 802. Upper membrane; 803. Connecting plate; 804. Lower membrane; 805. Water inlet pipe; 806. Compensation chamber; 807. Connecting pipe; 808. Connecting membrane. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and the structural features will be further detailed in conjunction with the working state. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figures 1 to 9 This invention provides a robot for detecting explosion-proof features in railway tank cars, and the technical solution is as follows:

[0039] Railway tank car explosion-proof inspection robot, referring to Figure 1 , Figure 2 and Figure 3Used in conjunction with track 1, the system includes a movable seat 2, an electric push rod 3, a pull rope assembly 4, and a detection device 5. It also includes a sealing assembly 6, an exhaust assembly 7, and a compensation assembly 8. The sealing assembly 6 is connected to the bottom of the electric push rod 3. The compensation assembly 8 includes a bottom shell 801, an upper membrane 802, a connecting plate 803, a lower membrane 804, and a water inlet pipe 805. The bottom shell 801 is connected to the bottom of the sealing assembly 6, and the upper membrane 802 is connected to the outer wall of the sealing assembly 6, forming a compensation cavity 806 with the bottom shell 801 and the sealing assembly 6. The two connecting plates... 803 is connected to the bottom of the sealing assembly 6. The lower membrane 804 is connected to the outer wall of the connecting plate 803 and forms a connecting pipe 807 with the connecting plate 803. The compensation chamber 806 is connected to the connecting pipe 807. Water is transported to the compensation chamber 806 through an external water pump connected to the water inlet pipe 805. The exhaust assembly 7 is slidably connected to the connecting plate 803. The detection device 5 is connected above the exhaust assembly 7. The pull rope assembly 4 is connected to the exhaust assembly 7. The sealing assembly 6 is pushed downward by the electric push rod 3, which drives the compensation assembly (8) into the tank. Inside the tank, the tank opening is sealed by the sealing component 6, keeping the tank in a sealed state. This prevents outside air from entering the tank and mixing with toxic gases during gas extraction, thus avoiding the exhaust gas containing a large amount of air and affecting extraction efficiency. The sealing component 6 also prevents the leakage of toxic gases during testing, thus preventing harm to nearby workers. The pull rope component 4 drives the detection device 5 to move inside the tank via the exhaust component 7. While the exhaust component 7 extracts gas from the tank, it simultaneously injects water into the tank through the compensation component 8. During exhaust, the water injected into the tank through the compensation component 8 maintains a dynamic pressure balance within the tank, and the water also cools the interior. Because the compensation component 8 is connected to the outer wall of the sealing component 6, and the upper membrane 802 is made of elastic material, it provides protection when the sealing component 6 is in contact with the tank opening. Furthermore, the compensation cavity 806 expands when water is injected into the tank, further improving the sealing effect. After testing, the water can also be used as cleaning water. After cleaning, the injected cold water is discharged through the drain outlet at the bottom of the tanker.

[0040] As one embodiment of the present invention, refer to Figure 2 and Figure 3The sealing assembly 6 includes a positioning block 601, a sealing block 602, left and right positioning plates 603, and front and rear positioning plates 604. The front and rear positioning plates 604 are connected to the bottom of the electric push rod 3. The left and right positioning plates 603 are slidably connected to the bottom of the front and rear positioning plates 604, so that the left and right positioning plates 603 can slide back and forth relative to the front and rear positioning plates 604. The sealing block 602 is slidably connected to the bottom of the left and right positioning plates 603, so that the sealing block 602 can slide left and right relative to the left and right positioning blocks 601. The positioning blocks 601 are connected to the bottom of the sealing blocks 602, and the positioning blocks 602 are also connected to the bottom of the sealing blocks 602. 01 The cross-section is set as a trapezoid with the narrow end facing downward. First, the bottom of the positioning block 601 is inserted into the inside of the can opening. Because the diameter of the bottom of the positioning block 601 is smaller than the diameter of the can opening, it is only necessary to lock the approximate position of the can opening, and the bottom of the positioning block 601 can enter the inside of the can opening. When the positioning block 601 is pushed downward, the positioning block 601 is pushed through the inside of the can opening, causing the sealing block 602 to slide at the bottom of the left and right positioning plates 603 and the front and rear positioning plates 604. Then, the position of the sealing block 602 is adjusted to find the center position of the can opening, so that the sealing block 602 is tightly fitted with the inner wall of the can opening.

[0041] As one embodiment of the present invention, refer to Figure 2 , Figure 3 and Figure 6 The exhaust assembly 7 includes a float 701, an air inlet chamber 702, and an exhaust pipe 703. The float 701 is connected to a connecting plate 803, which passes through a through hole 704. The air inlet chamber 702 is located inside the float 701, and inlets 7021 are provided on both the upper and lower sides of the air inlet chamber 702. The float 701 is driven by a rope assembly 4 to move the detection device 5 up and down, detecting different heights inside the tank. When a high concentration is encountered, the device stops, thus placing the air inlet chamber 702 at a high concentration position, making it easier to exhaust the gas. A first moving rod 7022 is movably connected inside the air inlet chamber 702. The lower end of the first moving rod 7022 is connected to the first baffle 7023, and the upper part of the first baffle 7023 is connected to the first spring 7024. The exhaust pipe 703 is connected to the top of the float 701 and communicates with the air inlet chamber 702. The top of the exhaust pipe 703 is connected to the positioning block 601 and extends to the outside. The top of the exhaust pipe 703 is connected to the existing pump. When the water level rises to the bottom of the float 701, the water will lift the detection device 5 through the float 701 to avoid the influence of the injected water on the detection device 5. Because the toxic gas is not easily soluble in water, the toxic gas will also rise with the rise of the liquid level, so that the air inlet chamber 702 is always located in the meteorological layer.

[0042] As one embodiment of the present invention, refer to Figure 4A connecting membrane 808 is provided at the connection between the compensation cavity 806 and the connecting pipe 807. The connecting membrane 808 has a funnel-shaped cross-section. When there is no water in the compensation cavity 806, the connecting membrane 808 will be in a contracted state to prevent toxic gases from being discharged from the connecting pipe 807. When there is water in the compensation cavity 806, the water will push the connecting membrane 808 to open, forming an outlet with a diameter smaller than that of the water inlet pipe 805. This creates a certain pressure inside the compensation cavity 806, causing it to expand in volume and thus improving the sealing effect of the tank opening.

[0043] As one embodiment of the present invention, refer to Figure 2 The bottom shell 801 has an inverted U-shaped cross section with an inner diameter larger than the outer diameter of the float 701. When the positioning block 601 moves downward, the float 701 is drawn into the protective groove to avoid impact.

[0044] As one embodiment of the present invention, refer to Figure 2 and Figure 5 The lower membrane 804 has an arc-shaped cross-section with its center located on the side away from the connecting plate 803. The detection device 5 is attached to the outer wall of the lower membrane 804. Cold water injected into the compensation cavity 806 and the connecting pipe 807 through the water inlet pipe 805 comes into contact with the lower membrane 804 and cools the detection device 5, thereby reducing the impact of the high temperature inside the tank on the detection device 5 and improving the service life of the detection device 5.

[0045] As one embodiment of the present invention, refer to Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 9The outer wall of the float 701 is connected to a second moving rod 8011, which is slidably connected to the inner wall of the positioning block 601. A second baffle 8012 is connected to the bottom of the second moving rod 8011, and a second spring 8013 is connected above the second baffle 8012. A discharge port 8014 is provided at the bottom of the bottom shell 801. The second baffle 8012 and the discharge port 8014 cooperate, as do the inlet 7021 and the discharge port 8014. When the detection is completed, the float 701 is pulled upwards by the rope assembly 4, causing the detection device 5 to move upwards. This causes the inlet 7021 to move upwards and connect with the bottom of the discharge port 8014. At this time, the first baffle 7023 pushes the second moving rod 8011 downwards. This pushes the second baffle 8012 downwards, blocking the feed inlet 7021 below the float 701. Simultaneously, the first baffle 7023 moves upwards under the counterforce of the second moving rod 8011, opening the discharge port 8014. This connects the air inlet chamber 702 with the compensation chamber 806, and the pump extracts water from the compensation chamber 806, reducing the pressure between the sealing block 602 and the tank opening, making it easier to open the tank opening. At the same time, after the water enters the air inlet chamber 702, it completely discharges the toxic gases remaining in the air inlet chamber 702 and the exhaust pipe 703, preventing the leakage of toxic gases remaining on the inner wall of the pipe when the detection device 5 comes out of the tank, which could harm the workers.

[0046] As one embodiment of the present invention, refer to Figure 6 The inlet 7021 and outlet 8014 are both designed with isosceles trapezoidal cross sections to improve the sealing effect when the inlet 7021 and outlet 8014 are connected. The float 701 is designed with a T-shaped cross section to keep the inlet 7021 below the float 701 away from the water surface, so as to prevent water from blocking the inlet 7021 below the float 701 during exhaust and causing water to enter the exhaust pipe 703, thus affecting the exhaust effect of the exhaust pipe 703.

[0047] Working principle: Before detection, high-temperature water is sprayed into the tank to flush the inside. After flushing, the detection device 5 is placed into the tank by the electric push rod 3 for detection. In order to quickly discharge the gas inside when the gas concentration exceeds the standard, an exhaust component 7, a compensation component 8, and a sealing component 6 are set up. The sealing component 6 is used to find the center position of the tank opening to facilitate sealing of the tank opening, thereby preventing a large amount of air from entering the tank and mixing with the toxic gas when the exhaust component 7 is venting, which would affect the exhaust efficiency. At the same time, it also prevents the toxic gas from leaking from the tank opening. Cold water is injected into the tank through the compensation component 8 to keep the gas pressure inside the tank in dynamic balance and maintain the exhaust efficiency.

[0048] Specifically, when detecting the gas inside the tank, the sealing assembly 6 is first moved downward by the electric push rod 3 to make the sealing assembly 6 fit tightly against the inner wall of the tank opening. The detection device 5 is then inserted into the tank. The float 701 is moved up and down by the pull rope assembly 4 to control the up and down movement of the detection device 5. When the gas concentration at a certain height is detected to be too high, the movement stops and the pump is started to pump out the gas. The toxic gas inside the tank enters the air inlet chamber 702 through the feed port 7021 and is then discharged through the exhaust pipe 703. At the same time, a water pump is connected to the top of the water inlet pipe 805 to deliver cold water into the compensation chamber 806. The cold water enters the tank through the compensation chamber 806 and the connecting pipe 807, so that the gas pressure inside the tank reaches dynamic balance, and the injected cold water has a cooling effect on the inside.

[0049] When the test is completed, the float 701 is pulled upward by the rope assembly 4, which in turn moves the testing device 5 upward. When the float 701 reaches the top, the top of the feed inlet 7021 above the float 701 connects with the bottom of the discharge outlet 8014. At this time, the first baffle 7023 pushes the second moving rod 8011 downward, thereby pushing the second baffle 8012 downward and blocking the feed inlet 7021 below the float 701. Simultaneously, the first baffle 7023 moves upward under the counterforce of the second moving rod 8011, opening the discharge outlet 8014 and thus connecting the air inlet 702 with the compensation. The cavity 806 is connected, and the water inside the compensation cavity 806 is extracted by a pump to reduce the pressure between the sealing block 602 and the tank opening, making it easier to open the tank opening. At the same time, after the water enters the air intake cavity 702, it will expel all the toxic gases remaining in the air intake cavity 702 and the exhaust pipe 703, thus preventing the leakage of toxic gases remaining in the pipes when the detection device 5 comes out of the tank body, which could cause harm to workers. Because the inside of the tank body needs additional water to clean and scrape at the same time, the water injected into the inside can be used as cleaning water in addition to its cooling function. After cleaning, the drain outlet at the bottom of the tank truck is opened to drain the dirt together.

[0050] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A railway tank car explosion-proof inspection robot, used in conjunction with a track (1), comprising a movable seat (2), an electric push rod (3), a rope assembly (4), and an inspection device (5), characterized in that: It also includes a sealing assembly (6), an exhaust assembly (7), and a compensation assembly (8). The sealing assembly (6) is connected to the bottom of the electric push rod (3). The compensation assembly (8) includes a bottom shell (801), an upper membrane (802), a connecting plate (803), a lower membrane (804), and a water inlet pipe (805). The bottom shell (801) is connected to the bottom of the sealing assembly (6). The upper membrane (802) is connected to the outer wall of the sealing assembly (6) and forms a compensation cavity (806) with the bottom shell (801) and the sealing assembly (6). The two connecting plates (803) are connected to the bottom of the sealing assembly (6). The lower membrane (804) is connected to the outer wall of the connecting plate (803) and forms a communication with the connecting plate (803). The pipe (807) is connected to the compensation chamber (806), the water inlet pipe (805) is connected to the sealing assembly (6) and is connected to the compensation chamber (806), the exhaust assembly (7) is slidably connected to the connecting plate (803), the detection device (5) is connected above the exhaust assembly (7), the pull rope assembly (4) is connected to the exhaust assembly (7), the sealing assembly (6) is pushed downward by the electric push rod (3), and the compensation assembly (8) is driven into the tank. The pull rope assembly (4) drives the detection device (5) to move inside the tank through the exhaust assembly (7). The exhaust assembly (7) extracts the gas inside the tank and injects water into the tank through the compensation assembly (8).

2. The railway tank car explosion-proof inspection robot according to claim 1, characterized in that: The sealing assembly (6) includes a positioning block (601), a sealing block (602), left and right positioning plates (603) and front and rear positioning plates (604). The front and rear positioning plates (604) are connected to the bottom of the electric push rod (3). The left and right positioning plates (603) are slidably connected to the bottom of the front and rear positioning plates (604). The sealing block (602) is slidably connected to the bottom of the left and right positioning plates (603). The positioning block (601) is connected to the bottom of the sealing block (602), and the cross-section of the positioning block (601) is trapezoidal with the narrow end facing downward.

3. The railway tank car explosion-proof inspection robot according to claim 2, characterized in that: The exhaust assembly (7) includes a float plate (701), an air intake chamber (702), and an exhaust pipe (703). The float plate (701) is connected to a connecting plate (803). A through hole (704) is provided on the float plate (701), and the connecting plate (803) passes through the through hole (704). The air intake chamber (702) is located inside the float plate (701), and inlets (7021) are provided on both the upper and lower sides of the air intake chamber (702). The air intake chamber (702) is movably connected to a first moving rod (7022), the lower end of the first moving rod (7022) is connected to a first baffle (7023), the upper part of the first baffle (7023) is connected to a first spring (7024), the exhaust pipe (703) is connected to the top of the float (701) and communicates with the air intake chamber (702), the top of the exhaust pipe (703) is connected to the positioning block (601) and extends to the outside.

4. The railway tank car explosion-proof inspection robot according to claim 1, characterized in that: A connecting membrane (808) is provided at the connection between the compensation cavity (806) and the connecting pipe (807), and the cross-section of the connecting membrane (808) is funnel-shaped.

5. The railway tank car explosion-proof inspection robot according to claim 3, characterized in that: The bottom shell (801) has an inverted U-shaped cross section, with an inner diameter larger than the outer diameter of the float plate (701).

6. The railway tank car explosion-proof inspection robot according to claim 1, characterized in that: The lower membrane (804) has an arc-shaped cross section with its center located on the side away from the connecting plate (803), and the detection device (5) is attached to the outer wall of the lower membrane (804).

7. The railway tank car explosion-proof inspection robot according to claim 3, characterized in that: The positioning block (601) is slidably connected to the inner wall of a second moving rod (8011), the bottom of the second moving rod (8011) is connected to a second baffle (8012), the top of the second baffle (8012) is connected to a second spring (8013), the bottom of the bottom shell (801) is provided with a discharge port (8014), the second baffle (8012) and the discharge port (8014) cooperate, and the inlet (7021) and the discharge port (8014) cooperate.

8. The railway tank car explosion-proof inspection robot according to claim 7, characterized in that: The inlet (7021) and outlet (8014) are both designed as isosceles trapezoids, and the float (701) is designed as a T-shaped cross section.

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