Tank intelligent detection robot

Abstract

The utility model is an intelligent tank detection robot. It includes a lifting device, a guide wheel device, an auxiliary lighting device, a camera device, and a control device. One end of the steel wire of the lifting device is movably connected to the built-in motor of the lifting device, and the other end is fixedly connected to the lifting device after passing through two built-in guide wheels of the guide wheel device. The lower end of the guide wheel device is fixedly connected to the positioning device, the positioning device is fixedly connected to the battery device, the battery device is movably connected to the auxiliary lighting device, and the auxiliary lighting device is fixedly connected to the base of the camera device. The lifting device is placed at the upper end opening of the tank to be tested. After the steel wire drives the auxiliary lighting device and the camera device to move up and down to the tested position under the drive of the lifting device, the camera rotates horizontally or vertically and realizes video inspection of the inner wall of the tank. The utility model is easy to operate and has a fast inspection speed. The detection data is digitally stored, which is convenient for later comparison and investigation. It can be used for the inspection of attachments on the inner wall of the tank and the integrity of the coating.

Description

Technical Field

[0001] The utility model belongs to the technical field of nondestructive testing, and particularly relates to a tank body intelligent detection robot used for checking the sanitation and coating integrity of the inner wall of a storage tank or the corrosion condition of the inner wall of a chimney. Background Art

[0002] Environmental sanitation defect detection on the inner surface of large storage tanks includes:

[0003] 1. Inspection of internal coating of beer fermentation tank: Check the surface cracks, peeling, abrasions, scratches, pits, protrusions, corrosion and other appearance defects of the inner coating.

[0004] 2. Inspection of weld surface defects: Check the inner surface of the weld for cracks, pores, slag inclusions, arc pits, weld bumps, incomplete penetration and weld leaks, etc.

[0005] 3. Inspection of excess internal attachments: After removing spatter, scale, pits, resin coating, rust, beer bubble caps and beer stones on the weld surface, observe whether there are residual debris in the inner cavity of the tank, dirt attached to the tank body after brushing, and other excess materials to facilitate further cleaning.

[0006] The traditional inspection method is to set up a lifting platform inside the tank or open the tank top assembly and use a micro camera to take pictures for inspection. This inspection solution has several problems:

[0007] 1. It takes a long time. It takes about a week to build the lifting platform inside the tank;

[0008] 2. High cost. Setting up a lifting platform consumes a lot of manpower and material resources; some parts are still beyond the reach of the lifting platform, and some scaffolding is still required, and the shelves in these parts are often difficult to set up.

[0009] 3. High safety risks: After entering the sealed space, the space inside the tank is small, the air circulation is poor, it is necessary to work at heights, and safety monitoring is difficult.

[0010] The height of a beer fermentation tank is about 16-20 meters. Generally speaking, internal inspection requires removing the tank top and inserting a miniature camera into the tank to shoot audio and video. This inspection solution has several problems:

[0011] 1. Poor safety. The diameter of the tank top assembly after opening is 80cm, which poses certain safety hazards.

[0012] 2. It takes a long time. It takes more than two workers more than 4 hours to remove the tank top assembly.

[0013] 3. Poor inspection effect. Affected by the dark and closed environment of the tank, the exposure intensity of the photo and the refraction of the tank wall, it depends on the workers' operating skills.

[0014] 4. The inspection efficiency is low and there are cases of missed inspections.

[0015] Therefore, there is a lack of an instrument that can be used to inspect the damage, dirt, explosion-proof and corrosion conditions of the inner surfaces of large storage tanks and industrial chimneys, especially a detection instrument with high inspection efficiency, low inspection cost, safety and reliability. Utility Model Content

[0016] In order to overcome the deficiencies in the above-mentioned prior art, the utility model provides a tank intelligent detection robot that is easy to operate, has a fast inspection speed, and can especially shorten the working cycle, is low in cost, safe and reliable. It can be used to inspect damage and dirt in the storage tank, and can also be used for regular inspection of the anti-corrosion performance of the inner wall of the chimney. The tank intelligent detection robot is used in conjunction with a portable controller to shoot high-definition video or take photos of the inside of the tank, transmit the image to the controller in real time for software processing, identify the macro and micro defects of the inner wall of the tank and conduct real-time evaluation, which solves the problem of manual internal cleaning and coating integrity inspection of the storage tank, improves work efficiency, reduces inspection costs, and stores the detection data digitally, which is convenient for later comparison and investigation. The tank intelligent detection robot consists of a camera device and a lifting device. The camera device uses a 30x high-definition zoom camera and a 355-degree rotating pan-tilt. The lifting device is placed at the upper opening of the tank body, with a diameter of the upper opening of the tank body, and drives the steel wire to move up and down. After the steel wire drives the camera device to run to the measured position, the camera rotates horizontally or vertically, and realizes a full-scale inspection of the inner wall of the tank.

[0017] In order to solve the above technical problems, the technical solution adopted by the utility model is: a tank intelligent detection robot, characterized in that it includes a lifting device for driving the steel wire to lift, and an aviation plug connected to a data line of an external controller is arranged at the upper end of the lifting device;

[0018] The lifting device has a built-in motor for driving the steel wire to lift, one end of the steel wire is movably connected to the built-in motor of the lifting device, and the other end of the steel wire is fixedly connected to the lifting device after passing through two built-in guide wheels of the guide wheel device;

[0019] The lower end of the guide wheel device is fixedly connected to the positioning device, and the positioning device is provided with a fixing pin for fixing the guide wheel device and the positioning device, a charging interface for connecting the battery device to an external charger, and a key switch for controlling the battery device to supply power to the auxiliary lighting device and the camera device;

[0020] Wherein, the positioning device is fixedly connected to the battery device;

[0021] Wherein, the battery device is movably connected to the auxiliary lighting device, and the auxiliary lighting device is provided with an LED light for providing auxiliary lighting for camera shooting;

[0022] Wherein, the auxiliary lighting device is fixedly connected to the base of the camera device;

[0023] The camera device comprises a bracket, a pan-tilt head, and a camera, one end of the bracket is fixedly connected to the base of the camera device, and the other end is fixedly connected to a connecting piece of the camera, one end of the connecting piece of the camera is connected to the camera, and the other end is connected to the pan-tilt head;

[0024] The pan / tilt can rotate horizontally and drive the camera to rotate horizontally. At the same time, the camera can rotate vertically.

[0025] Among them, the lifting device is placed at the upper opening of the tank body to be tested, and the steel wire placed in the tank body drives the auxiliary lighting device and the camera device to move up and down under the drive of the lifting device. After running to the tested position, under the illumination of the LED light of the auxiliary lighting device, the camera rotates horizontally or vertically and realizes video inspection of the inner wall of the tank body.

[0026] Wherein, the diameter of the lifting device is larger than the diameter of the upper opening of the tank body.

[0027] Wherein, a laser rangefinder for measuring the lifting distance of the steel wire is arranged on the upper end of the guide wheel device.

[0028] The battery device has a built-in rechargeable lithium battery, and the built-in battery of the battery device is a rechargeable 14500mAH lithium battery that can be connected to an external 220V power supply.

[0029] The auxiliary lighting device has a built-in heat sink for dissipating heat from the LED lamp.

[0030] The pan / tilt head can rotate 355 degrees in horizontal direction.

[0031] The camera can be rotated 180 degrees in the vertical direction.

[0032] Among them, the camera has a 30x optical zoom and a focusing time of less than 1 second.

[0033] By adopting the above technical solution, the beneficial effects obtained by the utility model are:

[0034] In summary, the utility model of the intelligent tank detection robot can take clear images, the camera can turn 355°, the steering is precise, the operation is flexible, the function is powerful, the inspection speed is fast, and it can shoot high-definition video or take photos of the inside of the tank, and transmit the image to the controller in real time for software processing, identify the macro and micro defects on the inner wall of the tank and conduct real-time evaluation, and store the detection data digitally for later comparison and troubleshooting. The scope of application of the inner surface inspection of the storage tank has been greatly improved. In addition to effectively observing the internal conditions of the storage tank, the intelligent tank detection robot can also detect weld scars, welds, weld formation and cleanliness inside other types of containers and pipelines, and can play an important role in various processes such as production, installation, use and maintenance.

[0035] The utility model is described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the tank intelligent detection robot of the utility model.

[0037] In the figure: 1-navigation plug, 2-lifting device, 3-steel wire, 4-laser rangefinder, 5-guide wheel device, 6-fixing pin, 7-positioning device, 8-charging interface, 9-button switch, 10-battery device, 11-auxiliary lighting device, 12-LED light, 13-camera device, 14-bracket, 15-pan head, 16-camera. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the implementation scheme of the present invention is described in detail below with reference to the accompanying drawings.

[0039] like Figure 1 As shown, the tank intelligent detection robot of the present invention comprises a lifting device 2 for driving the steel wire 3 to rise and fall, and an aviation plug 1 connected to a data line of an external controller is arranged at the upper end of the lifting device 2.

[0040] like Figure 1 As shown, the lifting device 2 has a built-in motor for driving the steel wire 3 to lift, one end of the steel wire 3 is movably connected to the built-in motor of the lifting device 2, and the other end of the steel wire 3 is fixedly connected to the lifting device 2 after passing through two built-in guide wheels of the guide wheel device 5;

[0041] like Figure 1 As shown, the lower end of the guide wheel device 5 is fixedly connected to the positioning device 7, and the positioning device 7 is provided with a fixing pin 6 for fixing the guide wheel device 5 and the positioning device 7, a charging interface 8 for connecting the battery device 10 to an external charger, and a button switch 9 for controlling the battery device 10 to supply power to the auxiliary lighting device 11 and the camera device 13.

[0042] like Figure 1 As shown, the positioning device 7 is fixedly connected to the battery device 10 .

[0043] like Figure 1 As shown, the battery device 10 is movably connected to an auxiliary lighting device 11 , and the auxiliary lighting device 11 is provided with an LED light 12 for providing auxiliary lighting for a camera 16 to shoot.

[0044] like Figure 1 As shown, the auxiliary lighting device 11 is fixedly connected to the base of the camera device 13 .

[0045] like Figure 1 As shown, the camera device 13 includes a bracket 14, a pan-tilt head 15, and a camera 16. One end of the bracket 14 is fixedly connected to the base of the camera device 13, and the other end is fixedly connected to the connecting piece of the camera 16. One end of the connecting piece of the camera 16 is connected to the camera 16, and the other end is connected to the pan-tilt head 15.

[0046] In one embodiment of the present utility model, the pan / tilt 15 can rotate horizontally and drive the camera 16 to rotate horizontally. At the same time, the camera 16 can rotate vertically.

[0047] In one embodiment of the utility model, the lifting device 2 is placed at the upper opening of the tank body to be tested, and the steel wire 3 placed in the tank body drives the auxiliary lighting device 11 and the camera device 13 to move up and down under the drive of the lifting device 2. After running to the tested position, under the illumination of the LED light 12 of the auxiliary lighting device 11, the camera 16 rotates horizontally or vertically and realizes video inspection of the inner wall of the tank body.

[0048] In one embodiment of the present invention, the diameter of the lifting device 2 is larger than the diameter of the upper opening of the tank body.

[0049] A laser rangefinder 4 for measuring the lifting distance of the steel wire 3 is arranged at the upper end of the guide wheel device 5 .

[0050] In one embodiment of the present invention, the battery device 10 has a built-in rechargeable lithium battery. The built-in battery of the battery device 10 is a rechargeable 14500mAH lithium battery that can be connected to an external 220V power supply.

[0051] In one embodiment of the present invention, the auxiliary lighting device 11 has a built-in heat sink for dissipating heat from the LED lamp 12 .

[0052] In one embodiment of the present invention, the pan / tilt platform 15 can rotate 355 degrees in the horizontal direction.

[0053] In one embodiment of the present invention, the camera 16 can rotate 180 degrees in the vertical direction.

[0054] In one embodiment of the present invention, the camera 16 has a 30x optical zoom and a focusing time of less than 1 second.

[0055] In one embodiment of the utility model, the intelligent tank detection robot is used in conjunction with a portable controller to capture high-definition video or take photos of the interior of the tank, and transmit the images in real time to the portable controller for software processing, thereby identifying macro and micro defects inside the tank wall and performing real-time evaluation, thereby solving the problem of manual opening of storage tanks for inspection, improving work efficiency, reducing inspection costs, and digitally storing inspection data for easy comparison and troubleshooting at a later stage.

[0056] In summary, the tank intelligent detection robot of the utility model has the following advantages: clear shooting images, precise camera steering, flexible operation, powerful functions, fast inspection speed, automatic storage of video data, convenient for post-investigation, short inspection period, low cost, safe and reliable. It greatly improves the scope of application of the inner surface inspection of storage tanks. It can also be used for regular inspection of the anti-corrosion performance of the inner wall of industrial chimneys, or for non-destructive inspection of the inner surface of confined spaces, small pipe diameters and high heights.

[0057] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Tank intelligent detection robot, characterized by It comprises a lifting device (2) for driving a steel wire (3) to lift and lower, and an aviation plug (1) connected to a data line of an external controller is arranged at the upper end of the lifting device (2); The lifting device (2) has a built-in motor for driving the steel wire (3) to lift and lower, one end of the steel wire (3) is movably connected to the built-in motor of the lifting device (2), and the other end of the steel wire (3) is fixedly connected to the lifting device (2) after passing through two built-in guide wheels of the guide wheel device (5); The lower end of the guide wheel device (5) is fixedly connected to the positioning device (7), and the positioning device (7) is provided with a fixing pin (6) for fixing the guide wheel device (5) and the positioning device (7), a charging interface (8) for connecting the battery device (10) to an external charger, and a key switch (9) for controlling the battery device (10) to supply power to the auxiliary lighting device (11) and the camera device (13); Wherein, the positioning device (7) is fixedly connected to the battery device (10); The battery device (10) is movably connected to the auxiliary lighting device (11), and the auxiliary lighting device (11) is provided with an LED light (12) for providing auxiliary lighting for the camera (16) to shoot; Wherein, the auxiliary lighting device (11) is fixedly connected to the base of the camera device (13); The camera device (13) comprises a bracket (14), a pan-tilt platform (15), and a camera (16); one end of the bracket (14) is fixedly connected to the base of the camera device (13), and the other end is fixedly connected to a connecting piece of the camera (16); one end of the connecting piece of the camera (16) is connected to the camera (16), and the other end is connected to the pan-tilt platform (15); The pan / tilt platform (15) can rotate in the horizontal direction and drive the camera (16) to rotate in the horizontal direction. At the same time, the camera (16) can rotate in the vertical direction. The lifting device (2) is placed at the upper opening of the tank body to be tested, and the steel wire (3) placed inside the tank body drives the auxiliary lighting device (11) and the camera device (13) to move up and down under the drive of the lifting device (2). After running to the tested position, under the illumination of the LED light (12) of the auxiliary lighting device (11), the camera (16) rotates horizontally or vertically to realize video inspection of the inner wall of the tank body.

2. The tank intelligent detection robot according to claim 1 is characterized in that The diameter of the lifting device (2) is larger than the diameter of the upper opening of the tank body.

3. The tank intelligent detection robot according to claim 1 is characterized in that A laser distance meter (4) for measuring the lifting distance of the steel wire (3) is arranged at the upper end of the guide wheel device (5).

4. The tank intelligent detection robot according to claim 1 is characterized in that The battery device (10) has a built-in rechargeable lithium battery, and the built-in battery of the battery device (10) is a rechargeable 14500mAH lithium battery that can be connected to an external 220V power supply.

5. The tank intelligent detection robot according to claim 1 is characterized in that The auxiliary lighting device (11) has a built-in heat sink for dissipating heat from the LED lamp (12).

6. The tank intelligent detection robot according to claim 1, characterized in that The pan / tilt platform (15) can rotate 355 degrees in the horizontal direction.

7. The tank intelligent detection robot according to claim 1 is characterized in that The camera (16) can rotate 180 degrees in the vertical direction.

8. The tank intelligent detection robot according to claim 1, characterized in that The camera (16) has a 30-fold optical zoom and a focusing time of less than 1 second.

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