Liquefied gas storage tank detection robot

Abstract

The utility model relates to the technical field of liquefied gas storage tank detection, in particular to a liquefied gas storage tank detection robot. The first traction assembly is fixedly arranged at one end of the detection vehicle, the first traction assembly comprises a first rope winder, the output end of the first rope winder is connected with the first end of a first traction rope, and the second end of the first traction rope is fixedly connected with the lantern ring; the two second traction assemblies are fixedly arranged at the end, away from the first traction assembly, of the detection vehicle, each second traction assembly comprises a second rope winder, the output end of the second rope winder is connected with the first end of a second traction rope, the second end of the second traction rope is fixedly connected with an attaching block, and the attaching block is of a V-shaped structure; a first adsorption assembly is arranged on the side wall of the attaching block. Through cooperation of the first traction assembly and the second traction assembly, the natural gas storage tank dome moving device can stably move on the dome of the natural gas storage tank, the moving route of the natural gas storage tank dome moving device cannot deviate, the natural gas storage tank dome moving device cannot be blown down by wind, and safety accidents cannot be caused.

Description

Technical Field

[0001] The utility model relates to the technical field of liquefied gas tank detection, and specifically relates to a liquefied gas tank detection robot. Background Art

[0002] The liquefied gas tank in the liquefied gas station is a facility dedicated to receiving, storing, gasifying and supplying liquefied natural gas to users. The dome of the liquefied gas tank is an important part of the tank structure and is subjected to huge pressure and low temperature environment. By inspecting its surface, possible cracks and corrosion can be found in time, and the aging assessment of the dome material can be performed to prevent the risk of natural gas leakage. At present, a robot equipped with a detection device can be placed on the dome of the liquefied gas tank, and the robot moves continuously on the dome to complete the detection work.

[0003] The shortcoming of the existing technology is that since the dome of the liquefied gas tank is located at a higher position, the wind there is very strong. When the robot is affected by the wind, not only will the movement route be deviated, but the robot may also be blown down by the wind, causing a safety accident. Utility Model Content

[0004] The purpose of the utility model is to provide a liquefied gas tank inspection robot, which can stably move on the dome of the liquefied gas tank through the cooperation of a first traction component and a second traction component. When it is windy, the action route of the utility model will not deviate, and will not be blown down by the wind, and will not cause safety accidents.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a liquefied gas tank inspection robot, comprising: an inspection vehicle; a first traction component, fixedly arranged at one end of the inspection vehicle, the first traction component comprising a first rope winder, the output end of the first rope winder is connected to the first end of the first traction rope, and the second end of the first traction rope is fixedly connected to a ring; two second traction components, both fixedly arranged at one end of the inspection vehicle away from the first traction component, the second traction component comprising a second rope winder, the output end of the second rope winder is connected to the first end of the second traction rope, and the second end of the second traction rope is fixedly connected to a bonding block, the bonding block is in a V-shaped structure, and a first adsorption component is provided on the side wall of the bonding block.

[0006] Preferably, the pointed end of the bonding block is located on the side away from the inspection vehicle, and the side wall of the bonding block facing the inspection vehicle is provided with a first mating surface and a second mating surface, and there are two first adsorption components, which are respectively arranged on the first mating surface and the second mating surface; the first adsorption component includes: a first electromagnet; a first ring-shaped magnetic isolation plate, the first electromagnet is arranged on the inner side of the first ring-shaped magnetic isolation plate; and a plurality of first electric omnidirectional wheels, all of which are arranged on the outer side of the first ring-shaped magnetic isolation plate.

[0007] Preferably, the bonding block is also provided with a third mating surface and a fourth mating surface, and the third mating surface and the fourth mating surface are respectively located at two ends of the bonding block, and the angle between the third mating surface and the first mating surface is greater than 180°, and the angle between the fourth mating surface and the second mating surface is greater than 180°, and a second adsorption component is respectively provided on the third mating surface and the fourth mating surface; the second adsorption component includes: a second electromagnet; a second ring-shaped magnetic isolation plate, the first electromagnet is arranged on the inner side of the second ring-shaped magnetic isolation plate; and a plurality of second electric omnidirectional wheels, all arranged on the outer side of the second ring-shaped magnetic isolation plate.

[0008] Preferably, the inspection vehicle includes: a base plate, each of the four corners of the base plate is provided with a third electric omnidirectional wheel; an assembly shell, fixedly arranged on the top surface of the base plate, the interior of the assembly shell is a cavity, the first rope reel and the second rope reel are both arranged inside the assembly shell, and are both fixedly connected to the assembly shell, the second end of the first traction rope passes through the side wall of the assembly shell and reaches the outside of the assembly shell, and the second end of the second traction rope passes through the top surface of the assembly shell and reaches the outside of the assembly shell.

[0009] Preferably, the second traction assembly also includes a positioning assembly, which includes: a support frame, which is vertically arranged on the top surface of the assembly shell and fixedly connected to the assembly shell, and the length of the support frame is greater than half the length of the bonding block; two guide wheels, both of which are arranged on the top of the support frame, and the two guide wheels are distributed up and down, and are both rotatably connected to the support frame, the second end of the second traction rope passes through the gap between the two guide wheels and extends to the side away from the first traction rope, and the positions of the two guide wheels are higher than the position of the bonding block.

[0010] Preferably, the inspection vehicle also includes two supporting blocks, and two receiving grooves are provided on the side wall of the assembly shell away from the first traction rope, and the receiving grooves pass through the top surface of the assembly shell, and the two supporting blocks are respectively arranged in the two receiving grooves and are fixedly connected to the assembly shell, and the two fitting blocks are respectively arranged above the two supporting blocks, and the support frame is located on the side of the receiving groove away from the supporting blocks.

[0011] Preferably, a first arcuate surface is provided on the top surface of the bearing block, a groove is provided in the middle of the first arcuate surface, and a width of the groove is greater than a width of the second traction rope.

[0012] Preferably, a metal sheet is provided on the first arc-shaped surface and below the groove, and the metal sheet is fixedly connected to the bearing block.

[0013] Preferably, a protrusion is provided at the bottom of the bearing block, and the protrusion extends away from one end of the bearing block to the outside of the receiving groove.

[0014] Preferably, the thickness of the protrusion at the end away from the bearing block is smaller than the thickness at the end close to the bearing block, and a second arc surface is provided on the end surface of the protrusion at the end away from the bearing block.

[0015] The beneficial effects of using the utility model are:

[0016] The utility model can stably move on the dome of the natural gas storage tank through the cooperation of the first traction component and the second traction component. The action route of the utility model will not deviate and will not be blown down by the wind, and will not cause safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an axonometric view of the utility model at one angle;

[0018] Figure 2 It is an axonometric view of the utility model from another angle;

[0019] Figure 3 This is an axonometric exploded view of the inspection vehicle in the utility model;

[0020] Figure 4 It is an axonometric diagram of the bearing block in the utility model;

[0021] Figure 5 It is an axonometric view of the first traction assembly in the utility model;

[0022] Figure 6 It is an axonometric diagram of the second rope reel, the second traction rope and the position adjustment assembly in the utility model;

[0023] Figure 7 It is an axonometric view of the bonding block in the utility model;

[0024] Figure 8 for Figure 7 The enlarged view of point A in the middle;

[0025] Fig. 9 This is an axonometric view of the utility model after being installed on the top of a liquefied gas tank;

[0026] Fig.10 It is an axonometric view when the utility model is moved to the top edge of the liquefied gas tank;

[0027] Fig.11 It is an axonometric diagram of the utility model when it moves near the first point to be detected;

[0028] Fig.12 It is a side view of the utility model when it moves near the first point to be detected;

[0029] Fig.13 for Fig.12 The enlarged view of point B in the middle;

[0030] Fig.14 It is an axonometric diagram of the utility model when it moves near the second point to be detected;

[0031] Fig.15 It is a side view of the utility model when it moves near the second point to be detected;

[0032] Fig.16 for Fig.15 Enlarged view of point C in the middle.

[0033] Reference numerals include:

[0034] 1-test vehicle, 11-bottom plate, 12-third electric omnidirectional wheel, 13-assembly shell, 131-storage slot, 14-carrying block, 141-first arc surface, 142-groove, 143-protrusion, 144-second arc surface, 15-metal sheet, 16-magnetic strip sensor, 17-RFID reader, 2-first traction assembly, 21-first rope reel, 22-first traction rope, 23-ring, 3-second traction assembly, 31-second rope reel, 32-second traction rope, 33-fitting block, 331-first assembly mating surface, 332-second mating surface, 333-third mating surface, 334-fourth mating surface, 34-first adsorption component, 341-first electromagnet, 342-first circular magnetic isolation plate, 343-first electric omnidirectional wheel, 35-second adsorption component, 351-second electromagnet, 352-second circular magnetic isolation plate, 353-second electric omnidirectional wheel, 36-positioning component, 361-support frame, 362-guide wheel, 4-liquefied gas tank, 41-first point to be detected, 42-second point to be detected, 5-fixed rod. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the technical solution more clear, the technical solution is further described in detail below in conjunction with specific implementation methods. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the technical solution.

[0036] Embodiment 1

[0037] See also Figure 1-16 The utility model provides a technical solution: a liquefied gas tank inspection robot, comprising an inspection vehicle 1, a first traction assembly 2 and two second traction assemblies 3, wherein the first traction assembly 2 and the second traction assembly 3 are respectively arranged on both sides of the inspection vehicle 1. The first traction assembly 2 comprises a first rope reel 21, a first traction rope 22 and a ring 23. The second traction assembly 3 comprises a second rope reel 31, a second traction rope 32 and a fitting block 33. Please refer to Fig. 9 , a plurality of first detection points 41 are arranged on the dome of the liquefied gas tank 4, and the plurality of first detection points 41 are arranged at the top edge of the liquefied gas tank 4. Figure 1-2 The bottom of the inspection vehicle 1 is provided with a magnetic stripe sensor 16 and an RFID reader 17. When the inspection vehicle 1 moves on the dome of the liquefied gas tank 4, it can navigate according to the posted magnetic stripe through the magnetic stripe, set the RFID identification point at the stop point, and start the inspection equipment to start the inspection after arriving at the point. The inspection vehicle 1 can be equipped with a camera, which takes images and completes the reconstruction comparison. The inspection vehicle 1 is provided with a battery to power the inspection equipment.

[0038] See also Figure 5 , Fig. 9 and Fig.12 Before using the utility model, a vertically arranged fixing rod 5 is first installed at the center of the dome of the liquefied gas tank 4, and then the utility model is hoisted to the dome of the liquefied gas tank 4, and the collar 23 is installed on the top of the fixing rod 5, so that the collar 23 is rotatably connected with the top of the fixing rod 5. The dome of the liquefied gas tank 4 can be installed with a storage room (the storage room is not shown in the figure), and the storage room is provided with a charging pile. When the utility model completes the detection, it can be moved to the storage room for automatic charging, and the storage room plays the role of shielding the utility model from wind and rain.

[0039] See also Figure 10-11 When the utility model needs to detect near the first detection point 41, the first rope reel 21 releases the first traction rope 22, and the detection vehicle 1 continues to move toward the edge of the dome of the liquefied gas tank 4. When the detection vehicle 1 reaches the edge of the dome of the liquefied gas tank 4, the second rope reel 31 releases the second traction rope 32, and the two fitting blocks 33 slide down along the dome surface of the liquefied gas tank 4. Please refer to Figure 1 , Figure 7 and Figure 12-13 The bonding block 33 has a V-shaped structure, so the bonding block 33 can be placed on the edge of the dome of the liquefied gas tank 4.

[0040] See also Figure 12-13The side wall of the bonding block 33 is provided with a first adsorption component 34, the bonding block 33 is provided with a first mating surface 331 and a second mating surface 332, and there are two first adsorption components 34, which are respectively provided on the first mating surface 331 and the second mating surface 332. Figure 7-8 The first adsorption component 34 includes a first electromagnet 341, a first annular magnetic isolation plate 342 and a plurality of first electric omnidirectional wheels 343. When the first electromagnet 341 works, the bonding block 33 is pulled toward the outer surface of the liquefied gas tank 4 under the action of the first electromagnet 341, and the bonding block 33 will not fall off from the edge of the liquefied gas tank 4.

[0041] See also Figure 1-3 The inspection vehicle 1 includes a bottom plate 11, four third electric omnidirectional wheels 12 and an assembly shell 13. The four third electric omnidirectional wheels 12 can drive the inspection vehicle 1 to move in the circumferential direction of the dome of the liquefied gas tank 4, or in the radial direction. The interior of the assembly shell 13 is a cavity. The first rope reel 21 and the second rope reel 31 are both arranged inside the assembly shell 13. The first traction rope 22 and the second traction rope 32 both extend out of the assembly shell 13. When the inspection vehicle 1 wants to move to the adjacent first inspection point 41 for inspection, the first electric omnidirectional wheel 343 works, driving the bonding block 33 to move along the edge of the dome of the liquefied gas tank 4, so that the relative position of the bonding block 33 and the inspection vehicle 1 remains unchanged, and the bonding block 33 will not hinder the movement of the inspection vehicle 1. And because the first electric omnidirectional wheel 343 abuts against the outer surface of the liquefied gas tank 4, the first electromagnet 341 and the first annular magnetic isolation plate 342 cannot contact the outer surface of the liquefied gas tank 4, and the first annular magnetic isolation plate 342 can prevent the first electromagnet 341 from affecting the first electric omnidirectional wheel 343.

[0042] See also Fig.11 When the inspection vehicle 1 moves close to the center of the dome of the liquefied gas tank 4 and performs inspection, the first rope reel 21 tightens the first traction rope 22, and the second rope reel 31 continues to release the second traction rope 32, so the first traction rope 22 and the second traction rope 32 will not affect the movement of the inspection vehicle 1. At this time, both ends of the inspection vehicle 1 are respectively subjected to the pulling force of the first traction rope 22 and the second traction rope 32, so the inspection vehicle 1 has good stability.

[0043] When the detection is completed, the first adsorption component 34 stops working. Then, the first rope reel 21 only needs to continue to tighten the first traction rope 22, and the second rope reel 31 needs to tighten the second traction rope 32. The utility model can be moved to the center of the dome of the liquefied gas tank 4 and return to its initial state.

[0044] The utility model can stably move on the dome of the natural gas storage tank through the cooperation of the first traction component 2 and the second traction component 3. The action route of the utility model will not deviate, will not be blown down by the wind, and will not cause safety accidents.

[0045] Embodiment 2

[0046] Based on Example 1, please refer to Fig. 9 The dome of the liquefied gas tank 4 is also provided with a plurality of second detection points 42, and the plurality of second detection points 42 are all provided inside the plurality of first detection points 41. Figure 7-8 The bonding block 33 is also provided with a third mating surface 333 and a fourth mating surface 334, and each of the third mating surface 333 and the fourth mating surface 334 is provided with a second adsorption component 35. The second adsorption component 35 includes a second electromagnet 351, a second annular magnetic isolation plate 352 and a plurality of second electric omnidirectional wheels 353.

[0047] See also Figure 13-15 When the utility model needs to detect near the second point 42 to be detected, the first rope reel 21 releases the first traction rope 22, and the detection vehicle 1 does not need to reach the edge of the dome of the liquefied gas tank 4. When the detection vehicle 1 approaches the second point 42 to be detected, the first rope reel 21 stops releasing the first traction rope 22. Then the second rope reel 31 releases the second traction rope 32. When the third matching surface 333 and the fourth matching surface 334 are both parallel to the dome surface of the liquefied gas tank 4, the second rope reel 31 stops releasing the second traction rope 32. Then the second electromagnet 351 works, and the bonding block 33 is pulled toward the dome surface of the liquefied gas tank 4 under the action of the second electromagnet 351, and the bonding block 33 will not slide off the dome surface of the liquefied gas tank 4. Since there are two second traction assemblies 3, the two fitting blocks 33 can move away from each other under the drive of the second electric omnidirectional wheel 353, so that the two second traction ropes 32 are no longer parallel and form an angle. At this time, the inspection vehicle 1 is subjected to pulling forces in three directions, and the stability of the inspection vehicle 1 is further enhanced.

[0048] See also Figure 15-16 When the inspection vehicle 1 wants to move to the adjacent second inspection point 42 for inspection, the second electric omnidirectional wheel 353 works, driving the bonding block 33 to move along the dome surface of the liquefied gas tank 4, so that the relative position of the bonding block 33 and the inspection vehicle 1 remains unchanged, and the bonding block 33 will not hinder the movement of the inspection vehicle 1. And because the second electric omnidirectional wheel 353 abuts against the dome surface of the liquefied gas tank 4, the second electromagnet 351 and the second ring-shaped magnetic isolation plate 352 cannot contact the dome surface of the liquefied gas tank 4, and the second ring-shaped magnetic isolation plate 352 can prevent the second electromagnet 351 from affecting the second electric omnidirectional wheel 353.

[0049] Embodiment 3

[0050] Based on Example 1, please refer to Figure 1 and Figure 6The second traction assembly 3 also includes a positioning assembly 36, which includes a support frame 361 and two guide wheels 362. The support frame 361 is vertically arranged on the top surface of the assembly shell 13, and the two guide wheels 362 are both arranged on the top of the support frame 361. The second end of the second traction rope 32 passes through the gap between the two guide wheels 362. Since the positions of the two guide wheels 362 are higher than the position of the bonding block 33, when the second rope reel 31 tightens the second traction rope 32, the bonding block 33 can be lifted up, thereby reducing the space occupied by the utility model when it is not in use.

[0051] See also Figure 1 and Figure 3-4 The inspection vehicle 1 further includes two bearing blocks 14. Two receiving grooves 131 are provided on the side wall of the assembly shell 13 away from the first traction rope 22. The two bearing blocks 14 are respectively provided in the two receiving grooves 131. When the two bonding blocks 33 are hoisted, they are respectively located above the two bearing blocks 14. The bearing blocks 14 can provide support for the bonding blocks 33, thereby extending the service life of the second traction rope 32.

[0052] See also Figure 1 and Figure 4 The top surface of the bearing block 14 is provided with a first arcuate surface 141, and a groove 142 is provided in the middle of the first arcuate surface 141. The width of the groove 142 is greater than the width of the second traction rope 32. When the second rope reel 31 tightens or releases the second traction rope 32, the second traction rope 32 can enter the groove 142, and the bearing block 14 will not hinder the movement of the second traction rope 32.

[0053] See also Figure 1 and Figure 4 A metal sheet 15 is provided on the first curved surface 141 and below the groove 142, and the metal sheet 15 is fixedly connected to the bearing block 14. When the bonding block 33 is hoisted, the first electromagnet 341 works to absorb the metal sheet 15 to ensure that the bonding block 33 does not move at will. When the bonding block 33 needs to be put down, the first electromagnet 341 stops working and no longer absorbs the metal sheet 15. The bonding block 33 is released and can slide down along the first curved surface 141 to the dome surface of the liquefied gas tank 4.

[0054] See also Figure 1 and Figure 4 The bottom of the bearing block 14 is provided with a protrusion 143, and the protrusion 143 extends to the outside of the receiving groove 131 away from one end of the bearing block 14. When the bonding block 33 is hung up, the bottom of the bonding block 33 abuts against the top surface of the protrusion 143, and the top of the bonding block 33 abuts against the first arc surface 141. The protrusion 143 and the top of the bearing block 14 cooperate to provide support for the bonding block 33.

[0055] See also Figure 1and Figure 4 The thickness of the protrusion 143 at the end away from the bearing block 14 is less than the thickness at the end close to the bearing block 14. When the bonding block 33 needs to be put down, the bonding block 33 can slide down smoothly along the top surface of the protrusion 143. A second arc surface 144 is provided on the end surface of the protrusion 143 away from the bearing block 14. When the bonding block 33 is hung up, the bonding block 33 will not be stuck by the protrusion 143.

[0056] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, many changes can be made in the specific implementation methods and application scopes based on the ideas of the present technical content. As long as these changes do not deviate from the concept of the present invention, they all fall within the scope of protection of this patent.

Claims

1. A liquefied gas tank inspection robot, characterized in that: include: Inspection vehicle; A first traction assembly, fixedly disposed at one end of the detection vehicle, the first traction assembly comprising a first rope reel, an output end of the first rope reel being connected to a first end of a first traction rope, and a second end of the first traction rope being fixedly connected to a ring; The two second traction assemblies are both fixedly arranged at one end of the inspection vehicle away from the first traction assembly. The second traction assembly includes a second rope winder. The output end of the second rope winder is connected to the first end of the second traction rope. The second end of the second traction rope is fixedly connected to the bonding block. The bonding block is in a V-shaped structure. The first adsorption assembly is provided on the side wall of the bonding block.

2. The liquefied gas tank inspection robot according to claim 1, characterized in that: The pointed end of the bonding block is located at a side away from the inspection vehicle, and a first mating surface and a second mating surface are provided on a side wall of the bonding block facing the inspection vehicle. There are two first adsorption components, and the two first adsorption components are respectively provided on the first mating surface and the second mating surface; The first adsorption component comprises: A first electromagnet; A first ring-shaped magnetic isolation plate, wherein the first electromagnet is arranged on the inner side of the first ring-shaped magnetic isolation plate; A plurality of first electric omnidirectional wheels are arranged on the outer side of the first ring-shaped magnetic isolation plate.

3. The liquefied gas tank inspection robot according to claim 2, characterized in that: The bonding block is further provided with a third mating surface and a fourth mating surface, the third mating surface and the fourth mating surface are respectively located at two ends of the bonding block, the angle between the third mating surface and the first mating surface is greater than 180°, the angle between the fourth mating surface and the second mating surface is greater than 180°, and the third mating surface and the fourth mating surface are each provided with a second adsorption component; The second adsorption component comprises: A second electromagnet; a second ring-shaped magnetic isolation plate, wherein the first electromagnet is arranged on the inner side of the second ring-shaped magnetic isolation plate; A plurality of second electric omnidirectional wheels are arranged on the outer side of the second ring-shaped magnetic isolation plate.

4. The liquefied gas tank inspection robot according to claim 2, characterized in that: The inspection vehicle comprises: A bottom plate, wherein each of the four corners of the bottom plate is provided with a third electric omnidirectional wheel; An assembly shell is fixedly arranged on the top surface of the base plate, the interior of the assembly shell is a cavity, the first rope reel and the second rope reel are both arranged inside the assembly shell and fixedly connected to the assembly shell, the second end of the first traction rope passes through the side wall of the assembly shell and reaches the outside of the assembly shell, and the second end of the second traction rope passes through the top surface of the assembly shell and reaches the outside of the assembly shell.

5. The liquefied gas tank inspection robot according to claim 4, characterized in that: The second traction assembly further includes a positioning assembly, and the positioning assembly includes: A support frame is vertically arranged on the top surface of the assembly shell and fixedly connected to the assembly shell, and the length of the support frame is greater than half the length of the bonding block; Two guide wheels are both arranged on the top of the support frame, the two guide wheels are distributed up and down, and are both rotatably connected to the support frame, the second end of the second traction rope passes through the gap between the two guide wheels and extends to the side away from the first traction rope, and the positions of the two guide wheels are higher than the position of the bonding block.

6. The liquefied gas tank inspection robot according to claim 5, characterized in that: The inspection vehicle also includes two supporting blocks. Two receiving grooves are provided on the side wall of the assembly shell away from the first traction rope. The receiving grooves pass through the top surface of the assembly shell. The two supporting blocks are respectively arranged in the two receiving grooves and are both fixedly connected to the assembly shell. The two fitting blocks are respectively arranged above the two supporting blocks. The support frame is located on the side of the receiving groove away from the supporting block.

7. The liquefied gas tank inspection robot according to claim 6, characterized in that: A first arcuate surface is provided on the top surface of the bearing block, a groove is provided in the middle of the first arcuate surface, and a width of the groove is greater than a width of the second traction rope.

8. The liquefied gas tank inspection robot according to claim 7, characterized in that: A metal sheet is provided on the first arc surface and below the groove, and the metal sheet is fixedly connected to the bearing block.

9. The liquefied gas tank inspection robot according to claim 6, characterized in that: A protrusion is provided at the bottom of the bearing block, and the protrusion extends away from one end of the bearing block to the outside of the receiving groove.

10. The liquefied gas tank inspection robot according to claim 9, characterized in that: The thickness of the protrusion at one end away from the bearing block is smaller than the thickness at one end close to the bearing block, and a second arc surface is provided on the end surface of the protrusion at one end away from the bearing block.

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