Capacity measuring device for earthing metal storage tank

Abstract

The utility model relates to the technical field of vertical metal storage tank metering, in particular to a soil covering metal storage tank capacity measuring device. Comprising a wall-climbing robot body and an auxiliary assembly, a magnetic attraction assembly is fixedly arranged at the bottom of the wall-climbing robot body, and the auxiliary assembly comprises a front drive motor, a front wheel, a rear drive motor, a rear wheel, a distance detector, a double-shaft tilt angle sensor, a control box, a remote controller, a matching component and a communication component. The distance detector detects the distance between the chassis and the wall surface, the double-shaft tilt angle sensor monitors the vertical advancing deviation angle and the pitching angle of the device, the remote controller is used for remote control of equipment, and compared with a traditional manual ruler method for calibration, the calibration is faster, so that the device can be used for measuring the diameter or perimeter, the height, the wall thickness and the like of a large vertical metal storage tank ring plate. The volume calibration work of the vertical metal storage tank can be safely, rapidly and accurately completed, and the purpose of rapidly correcting the empty tank state volume table or calibrating the in-use storage tank volume table is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of vertical metal storage tank measurement, in particular to a device for measuring the capacity of a soil-covered metal storage tank. Background Art

[0002] For earth-covered storage tanks in use, the circular walkway in the tank room is only about one meter, and there is no space for total station operation. It is impossible to use the inside or outside measurement method to determine the tank volume data. Therefore, the manual circumference method and radial deviation method are usually used for external measurement to calibrate the tank capacity table.

[0003] This method is relatively simple and easy to learn, but it has problems such as slow speed, high labor intensity, and poor safety. In the use of vertical metal storage tanks, accurate tank capacity is an important technical means and basis for ensuring fair and just transfer of stored liquids. Online verification and calibration of volume tables has extremely important safety and economic significance. Utility Model Content

[0004] The purpose of the utility model is to provide a device for measuring the capacity of earth-covered metal storage tanks, which can be used to measure the diameter or circumference of the ring plate, the height of the ring plate, the wall thickness, etc. of large vertical metal storage tanks, and can safely, quickly and accurately complete the volume verification of vertical metal storage tanks, so as to quickly correct the empty tank state volume table or calibrate the volume table of the tank in use.

[0005] To achieve the above-mentioned purpose, the utility model provides a device for measuring the capacity of a soil-covered metal storage tank, comprising a wall-climbing robot body, a magnetic suction component is fixedly arranged at the bottom of the wall-climbing robot body, and an auxiliary component;

[0006] The auxiliary assembly includes a front drive motor, a front wheel, a rear drive motor, a rear wheel, a distance detector, a dual-axis tilt sensor, a control box, a remote controller, a matching component and a communication component. The front drive motor is fixedly connected to the chassis of the wall-climbing robot body and is located on the front side of the chassis. The front wheel is connected to the output shaft of the front drive motor through an elastic coupling. The rear drive motor is fixedly connected to the chassis and is located on the side of the chassis away from the front drive motor. The rear wheel is connected to the output shaft of the rear drive motor through an elastic coupling. The distance detector is fixedly connected to the chassis , and is located on the chassis, the dual-axis inclination sensor is fixedly connected to the chassis and is located on the side of the chassis close to the distance detector, the control box is fixedly connected to the chassis, and is electrically connected to the front drive motor, the rear drive motor, the distance detector and the dual-axis inclination sensor respectively, and is located on the side of the chassis away from the distance detector, the remote controller and the control box adopt wireless communication, the matching components are arranged on both sides of the chassis, the communication component is electrically connected to the control box, and is fixedly connected to the chassis, and is located on one side of the control box;

[0007] Temperature sensors are respectively bonded and fixed to the housing surfaces of the front drive motor and the rear drive motor, and the temperature sensors are electrically connected to the control box;

[0008] The detection end of the distance detector is always in close contact with the wall surface on which the wall-climbing robot body travels.

[0009] Wherein, the mating component includes a first battery box and a second battery box, the first battery box is fixedly connected to the chassis, electrically connected to the control box, and located on one side of the chassis; the second battery box is fixedly connected to the chassis, electrically connected to the control box, and located on a side of the chassis away from the first battery box.

[0010] Wherein, a rubber film is adhered to the magnet surface of the magnetic attraction component.

[0011] Wherein, the auxiliary component also includes a handle, and the handle is fixedly connected to the chassis and is located on the chassis.

[0012] Among them, the auxiliary component also includes a first camera and a second camera, the first camera is fixedly connected to the chassis, electrically connected to the control box, and located on the front side of the chassis; the second camera is fixedly connected to the chassis, electrically connected to the control box, and is located on the side of the chassis close to the first camera.

[0013] The utility model discloses a device for measuring the capacity of a soil-covered metal storage tank. A magnetic suction component cooperates with a front drive motor, a front wheel, a rear drive motor and a rear wheel to realize the adsorption of a wall-climbing robot body on the inner wall or the outer wall of the metal storage tank and realizes driving walking. Then, a distance detector performs distance detection to obtain the precise distance between the chassis and the wall surface. A dual-axis inclination sensor monitors the vertical travel deviation angle and the pitch angle of the device respectively. The vertical deviation angle is used to correct the running direction of the device to prevent deviation. The pitch angle is used to ensure safety to prevent the device from tilting its head away from the tank wall when encountering a large weld or an abnormal situation. A control box, a communication component and a remote controller are used for remote control of the equipment. The matching components are arranged on both sides of the chassis. Compared with the traditional manual circumference method and radial deviation method for external measurement to calibrate the tank capacity table, it will be faster and more efficient, thereby realizing that it can be used to measure the diameter or circumference of the ring plate of a large vertical metal storage tank, the height of the ring plate, the wall thickness, etc., and can safely, quickly and accurately complete the volume calibration of the vertical metal storage tank, so as to achieve the purpose of quickly correcting the empty tank state volume table or calibrating the volume table of the storage tank in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0015] Figure 1 It is a schematic diagram of the overall structure of the earth-covered metal storage tank capacity measuring device of the first embodiment of the utility model.

[0016] Figure 2 It is a schematic diagram of the installation position of the magnetic attraction component of the first embodiment of the utility model.

[0017] Figure 3 It is a schematic diagram of the overall structure of a device for measuring the capacity of a soil-covered metal storage tank according to a second embodiment of the utility model.

[0018] In the figure: 101-wall-climbing robot body, 1011-chassis, 102-magnetic suction component, 103-front drive motor, 104-front wheel, 105-rear drive motor, 106-rear wheel, 107-distance detector, 108-dual-axis tilt sensor, 109-control box, 110-remote controller, 111-communication component, 112-temperature sensor, 113-first battery box, 114-second battery box, 115-handle, 201-first camera, 202-second camera. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0020] Embodiment 1:

[0021] like Figure 1 and Figure 2 As shown, Figure 1 This is the overall structural diagram of the earth-covered metal tank capacity measuring device. Figure 2It is a schematic diagram of the installation position of the magnetic suction component 102. The utility model provides a device for measuring the capacity of a soil-covered metal storage tank: it includes a wall-climbing robot body 101 and an auxiliary component. The magnetic suction component 102 is fixedly arranged at the bottom of the wall-climbing robot body 101. The auxiliary component includes a front drive motor 103, a front wheel 104, a rear drive motor 105, a rear wheel 106, a distance detector 107, a dual-axis inclination sensor 108, a control box 109, a remote controller 110, a matching component, a communication component 111 and a handle 115. The matching component includes a first battery box 113 and a second battery box 114. Through the above-mentioned scheme, it can be realized that the device can be used to measure the diameter or circumference of the ring plate, the height of the ring plate, the wall thickness, etc. of the large vertical metal storage tank, and can safely, quickly and accurately complete the volume verification work of the vertical metal storage tank, so as to achieve the purpose of quickly correcting the volume table of the empty tank state or calibrating the volume table of the tank in use. It can be understood that the above-mentioned scheme can safely, quickly and accurately complete the volume verification work of the vertical metal storage tank, so as to achieve the purpose of quickly correcting the volume table of the empty tank state or calibrating the volume table of the tank in use.

[0022] In this embodiment, a magnetic attraction component 102 is fixedly arranged at the bottom of the wall-climbing robot body 101, and the magnet of the magnetic attraction component 102 is a permanent magnet.

[0023] Among them, the front drive motor 103 is fixedly connected to the chassis 1011 of the wall-climbing robot body 101 and is located on the front side of the chassis 1011. The front wheel 104 is connected to the output shaft of the front drive motor 103 through an elastic coupling. The rear drive motor 105 is fixedly connected to the chassis 1011 and is located on the side of the chassis 1011 away from the front drive motor 103. The rear wheel 106 is connected to the output shaft of the rear drive motor 105 through an elastic coupling. The distance detector 107 is fixedly connected to the chassis 1011 and is located on the chassis 1011. The dual-axis inclination sensor 108 is fixedly connected to the chassis 1011. The control box 109 is fixedly connected to the chassis 1011 and is electrically connected to the front drive motor 103, the rear drive motor 105, the distance detector 107 and the dual-axis tilt sensor 108, respectively, and is located on the side of the chassis 1011 away from the distance detector 107. The remote controller 110 and the control box 109 use wireless communication, and the matching components are arranged on both sides of the chassis 1011. The communication component 111 is electrically connected to the control box 109 and is fixedly connected to the chassis 1011 and is located on one side of the control box 109;The front drive motor 103 adopts a stepper motor, which can drive the front wheel 104 to rotate and generate driving force after being activated. The rear drive motor 105 adopts a stepper motor, which can drive the rear wheel 106 to rotate and generate driving force after being activated. The distance detector 107 is fixed to the chassis 1011 by bolts. The dual-axis tilt sensor 108 is fixed to the chassis 1011 by bolts, and monitors the vertical travel deviation angle and the pitch angle of the device respectively. The vertical deviation angle is used to correct the running direction of the device to prevent deviation. The pitch angle is used to ensure safety to prevent the device from lifting its head and detaching from the tank wall when encountering a large weld or abnormal situation. The control box 109 is installed on the chassis 1011 by bolts, and a control board is installed inside. The control board adopts a 32-bit ARM single-chip microcomputer design and is equipped with an input and output interface. It is mainly used to output the control pulse signal of the stepper motor, collect the speed and temperature of the stepper motor, and the angles of the two directions of the wall-climbing robot body 101, and then receive instructions from the control box 109 through the RS485 communication interface. And send various parameters of the current wall-climbing robot body 101, the control box 109 is electrically connected to the front drive motor 103, the rear drive motor 105, the distance detector 107 and the dual-axis tilt sensor 108 through cables, the remote controller 110 and the control box 109 use 433MHz wireless communication, and the communication protocol uses the MODBUS protocol. The remote controller 110 side is the host, and the wall-climbing robot body 101 side is the slave. The matching components are arranged on both sides of the chassis 1011 for working coordination. The communication component 111 is electrically connected to the control box 109 through cables and fixed to the chassis 1011 by bolts, which is used for the remote controller 110 and the control box 109 to carry out wireless communication coordination. Communication electronic components are installed inside. The remote controller 110 uses a universal mobile phone-type handheld terminal with an LCD character display and control buttons. Through buttons and wireless communication, the device can be started and stopped. The surface of the front wheel 104 and the rear wheel 106 is provided with an anti-slip layer. ;

[0024] The shell surfaces of the front-drive motor 103 and the rear-drive motor 105 are respectively bonded and fixed with temperature sensors 112, and the temperature sensors 112 are electrically connected to the control box 109; in order to perform fault warning and equipment status detection, the shell surfaces of the front-drive motor 103 and the rear-drive motor 105 are respectively bonded and fixed with temperature sensors 112 for temperature detection, and the data can be displayed through the touch screen equipped on the control box 109, and the touch screen can also simultaneously display the working status of the equipment, including speed, height, angle, temperature and other information, and further corresponding parameter setting operations can be performed.

[0025] The detection end of the distance detector 107 is always in close contact with the wall surface on which the wall-climbing robot body 101 is traveling. Under the action of the internal spring, the detection end of the distance detector 107 is always in close contact with the wall surface on which the wall-climbing robot 101 is traveling, so that the precise distance between the chassis 1011 and the wall surface can be obtained. The distance detector 107 can directly adopt a mature product under the existing technology.

[0026] Secondly, the first battery box 113 is fixedly connected to the chassis 1011, and is electrically connected to the control box 109, and is located on one side of the chassis 1011; the second battery box 114 is fixedly connected to the chassis 1011, and is electrically connected to the control box 109, and is located on the side of the chassis 1011 away from the first battery box 113. The first battery box 113 and the second battery box 114 can be equipped with batteries respectively, and can be electrically connected to the control box 109 through cables. In some environments, when it is inconvenient to use external connection cables to power the equipment, the first battery box 113 and the second battery box 114 can be used for working power supply, thereby improving the practicality of the equipment.

[0027] Then, a rubber film is pasted on the magnet surface of the magnetic attraction component 102. In order to prevent the wall-climbing robot body 101 from sliding on the tank wall under the action of its own weight, a rubber film is pasted on the magnet surface of the magnetic attraction component 102 to increase the sliding friction coefficient and improve the working stability of the device.

[0028] Finally, the handle 115 is fixedly connected to the chassis 1011 and is located on the chassis 1011. The handle 115 is fixed to the chassis 1011 by bolts, which will facilitate the staff to move the device to the work site.

[0029] When using the utility model to safely, quickly and accurately complete the volume verification of a vertical metal storage tank, and to quickly correct the empty tank state volume table or calibrate the tank volume table, first, the magnetic suction component 102 can make the wall-climbing robot body 101 adsorbed on the inner wall or outer wall of the tank, and then, after the front drive motor 103 is actuated, it can drive the front wheel 104 to rotate and generate a driving force, and after the rear drive motor 105 is actuated, it can drive the rear wheel 106 to rotate and generate a driving force, thereby realizing the movement of the device. Furthermore, the distance detector 107 performs distance detection to obtain the precise distance between the chassis 1011 and the wall, and feeds back the data to the control box 109. The control board in the control box 109 can perform calculations and processing on the distance data of different positions when the device moves, and wirelessly transmit the data information to the display of the remote control 110. The display screen is convenient for operators to view records. The dual-axis inclination sensor 108 monitors the vertical travel deviation angle and the pitch angle of the device respectively. The vertical deviation angle is used to correct the running direction of the device to prevent deviation. The pitch angle is used to ensure safety to prevent the device from lifting its head away from the tank wall when encountering a large weld or abnormal situation. The control box 109, the communication component 111 and the remote control 110 are used for remote control of the equipment. The matching components are used in coordination and can be used optionally. Compared with the traditional manual circumference method and radial deviation method for external measurement to calibrate the tank capacity table, it will be faster and more efficient, and can be used to measure the diameter or circumference of the ring plate of large vertical metal storage tanks, the height of the ring plate, the wall thickness, etc., and can safely, quickly and accurately complete the volume verification of vertical metal storage tanks, so as to quickly correct the empty tank state volume table or calibrate the volume table of the tank in use.

[0030] Embodiment 2:

[0031] like Figure 3 As shown, Figure 3 20 is a schematic diagram of the overall structure of the device for measuring the capacity of a soil-covered metal storage tank. On the basis of the first embodiment, the utility model provides a device for measuring the capacity of a soil-covered metal storage tank. The auxiliary component further includes a first camera 201 and a second camera 202.

[0032] The first camera 201 is fixedly connected to the chassis 1011, electrically connected to the control box 109, and located at the front side of the chassis 1011; the second camera 202 is fixedly connected to the chassis 1011, electrically connected to the control box 109, and located at the side of the chassis 1011 close to the first camera 201. The first camera 201 and the second camera 202 are both equipped with fill lights, which are respectively fixed to the chassis 1011 by bolts, and then electrically connected to the control box 109 by cables.

[0033] In this embodiment, by setting the first camera 201 and the second camera 202, when the device moves forward, the tank wall condition on the front side of the device can be photographed, and the information can be transmitted to the control box 109, and finally to the remote control 110, and the image can be displayed on the display screen on the remote control 110, so that when encountering a large weld or abnormal situation, the device can be operated to avoid it.

[0034] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A device for measuring the capacity of a soil-covered metal tank, comprising a wall-climbing robot body, a magnetic suction component being fixedly arranged at the bottom of the wall-climbing robot body, characterized in that: Also included are auxiliary components; The auxiliary assembly includes a front drive motor, a front wheel, a rear drive motor, a rear wheel, a distance detector, a dual-axis tilt sensor, a control box, a remote controller, a matching component and a communication component. The front drive motor is fixedly connected to the chassis of the wall-climbing robot body and is located on the front side of the chassis. The front wheel is connected to the output shaft of the front drive motor through an elastic coupling. The rear drive motor is fixedly connected to the chassis and is located on the side of the chassis away from the front drive motor. The rear wheel is connected to the output shaft of the rear drive motor through an elastic coupling. The distance detector is fixedly connected to the chassis , and is located on the chassis, the dual-axis inclination sensor is fixedly connected to the chassis and is located on the side of the chassis close to the distance detector, the control box is fixedly connected to the chassis, and is electrically connected to the front drive motor, the rear drive motor, the distance detector and the dual-axis inclination sensor respectively, and is located on the side of the chassis away from the distance detector, the remote controller and the control box adopt wireless communication, the matching components are arranged on both sides of the chassis, the communication component is electrically connected to the control box, and is fixedly connected to the chassis, and is located on one side of the control box; Temperature sensors are respectively bonded and fixed to the housing surfaces of the front drive motor and the rear drive motor, and the temperature sensors are electrically connected to the control box; The detection end of the distance detector is always in close contact with the wall surface on which the wall-climbing robot body travels.

2. The earth-covered metal storage tank capacity measuring device according to claim 1, characterized in that: The mating component includes a first battery box and a second battery box. The first battery box is fixedly connected to the chassis, electrically connected to the control box, and located on one side of the chassis; the second battery box is fixedly connected to the chassis, electrically connected to the control box, and located on a side of the chassis away from the first battery box.

3. The earth-covered metal storage tank capacity measuring device according to claim 1, characterized in that: A rubber film is pasted on the magnet surface of the magnetic attraction component.

4. The earth-covered metal storage tank capacity measuring device according to claim 1, characterized in that: The auxiliary component also includes a handle, which is fixedly connected to the chassis and is located on the chassis.

5. The earth-covered metal storage tank capacity measuring device according to claim 1, characterized in that: The auxiliary component also includes a first camera and a second camera. The first camera is fixedly connected to the chassis, electrically connected to the control box, and located on the front side of the chassis; the second camera is fixedly connected to the chassis, electrically connected to the control box, and located on the side of the chassis close to the first camera.

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