An atmospheric storage tank electromagnetic ultrasonic wall-climbing detection device

Abstract

The utility model belongs to atmospheric storage tank detection technical field especially, a kind of atmospheric storage tank electromagnetic ultrasonic wall-climbing detection equipment, to the fixed setting of adsorption degree in prior art, magnetic wheel is suspended when meeting weld, rust area causes, adsorption force sudden drop, easy to fall off, the angle of ultrasonic probe is fixed setting, angle adjustment is not convenient, the problem of bad use effect, present and propose the following scheme, it includes: vehicle body, the front and rear ends of the vehicle body are both provided with camera, the top of the vehicle body is fixedly installed with top cover, the vehicle body is provided with multiple groups of electromagnet, the outside of multiple groups of electromagnet is all wound with coil, and multiple groups of coils are in series connection.The utility model passes through the magnetic force intensity of adjusting current flexible control, adapts complex area such as weld, rust on the surface of storage tank, avoids the risk of falling off, multi-angle probe adjustment cooperation intelligent algorithm, realizes omnidirectional coverage detection and fast defect positioning.

Description

Technical Field

[0001] This utility model relates to the field of atmospheric pressure storage tank testing technology, and in particular to an electromagnetic ultrasonic wall-climbing testing device for atmospheric pressure storage tanks. Background Technology

[0002] This intelligent non-destructive testing equipment combines electromagnetic ultrasonic technology with robotic wall-climbing technology, specifically designed for automated defect detection in atmospheric pressure storage tanks (such as oil storage tanks and chemical containers). Its core function is to detect defects such as corrosion, cracks, and thinning in the tank wall using non-contact ultrasonic waves, while simultaneously utilizing a wall-climbing robot to achieve autonomous movement and full-coverage scanning of vertical or curved walls.

[0003] Publication No. CN111896554A discloses a wall-climbing robot for atmospheric pressure storage tanks used for surface micro-topography inspection. The robot includes a frame, an adaptive Mecanum wheel mechanism, a camera, a line laser scanning probe, and an electric push rod. The adaptive Mecanum wheel mechanism has four sets located on both sides of the frame. Each mechanism includes a Mecanum wheel, a Mecanum wheel bracket, a drive motor, a universal joint, and a spring. The Mecanum wheel is mounted on the Mecanum wheel bracket, which is pivotally connected to the frame. The spring exerts a force on the Mecanum wheel bracket, causing its outer end to swing downwards. The drive motor is connected to the Mecanum wheel via the universal joint. The electric push rod drives the line laser scanning probe to move back and forth. This invention, a wall-climbing robot for atmospheric pressure storage tanks used for surface micro-topography inspection, is adaptable to varying curved surfaces due to its adaptive Mecanum wheel mechanism, offering advantages such as wide applicability and ease of use. Furthermore, the camera and line laser scanning probe enable efficient flaw detection of atmospheric pressure storage tanks.

[0004] In existing technologies, the adsorption force is fixed. When encountering welds or rusted areas, the magnetic wheel becomes suspended, causing the adsorption force to drop sharply and the magnet to easily fall off. The angle of the ultrasonic probe is also fixed, making it inconvenient to adjust the angle and resulting in poor performance. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies, such as fixed adsorption force settings, magnetic wheel suspension and sudden drop in adsorption force when encountering weld seams or rusted areas, easy detachment, and fixed ultrasonic probe angle settings that are inconvenient to adjust, resulting in poor performance. Therefore, this invention proposes an electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks.

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

[0007] An electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks includes:

[0008] The vehicle body has cameras installed at both the front and rear ends, a top cover is fixedly installed on the top of the vehicle body, and multiple sets of electromagnets are installed inside the vehicle body. The outer side of each set of electromagnets is wound with a coil, and the multiple sets of coils are connected in series.

[0009] An angle adjustment mechanism is installed on the inner wall of the bottom of the vehicle body. An electromagnetic ultrasonic probe is installed on the angle adjustment mechanism. A detection hole is opened at the center of the bottom of the vehicle body. The electromagnetic ultrasonic probe is adapted to the detection hole.

[0010] Four drive mechanisms are located at the four corners of the bottom of the vehicle body.

[0011] Preferably, the four drive mechanisms include four servo motors, each with a drive wheel mounted on its output shaft. The bottom of the vehicle body has four wheel grooves, which are adapted to the four drive wheels. The four servo motors are all mounted on the vehicle body. The four wheels are driven independently, allowing for multi-angle adjustment and movement.

[0012] Preferably, the angle adjustment mechanism includes multiple support rods, all of which are fixedly installed on the bottom inner wall of the vehicle body. A circular plate is mounted on the top of each support rod. A linear motor is fixedly installed on the top of the circular plate. A circular box is mounted on the output shaft of the linear motor. A rotating plate is rotatably mounted on the bottom of the circular box. A vertical angle adjustment unit is provided at the bottom of the rotating plate. The electromagnetic ultrasonic probe is connected to the vertical angle adjustment unit. The linear motor drives the circular box, the rotating plate, and the electromagnetic ultrasonic probe to move vertically.

[0013] Preferably, a rotary motor is fixedly installed on the top inner wall of the circular box, the output shaft of the rotary motor is fixedly installed at the top center of the rotating plate, the top of the rotating plate is provided with a rotating groove, and multiple balls are embedded in the bottom of the circular box. The circular box is located in the rotating groove, and the multiple balls are slidably connected to the inner wall of the rotating groove. The rotary motor drives the rotating plate to rotate, and the rotating plate drives the electromagnetic ultrasonic probe to rotate horizontally.

[0014] Preferably, the vertical angle adjustment unit includes two fixed plates, both of which are fixedly installed on the bottom of the rotating plate. A synchronous motor is installed on the outer side of each of the two fixed plates. The same n-shaped frame is installed on the output shaft of the two synchronous motors. The output shaft of the two synchronous motors is rotatably connected to the two fixed plates. The electromagnetic ultrasonic probe is installed inside the n-shaped frame. The vertical angle of the n-shaped frame is adjusted by the two synchronous motors, and the n-shaped frame drives the electromagnetic ultrasonic probe to adjust its vertical angle.

[0015] Preferably, the vehicle body is equipped with a control module, which includes a data acquisition and analysis system, a remote control module, and a power supply. An antenna is connected to the remote control module and is installed on the outside of the top cover. The antenna improves the efficiency and range of wireless transmission.

[0016] Compared with the prior art, the advantages of this utility model are:

[0017] 1. Electromagnetic dynamic adsorption: The design adopts multiple sets of electromagnets and series coils. The magnetic strength can be flexibly controlled by adjusting the current, which can adapt to complex areas such as weld seams and rust on the surface of the storage tank, ensuring the adsorption stability of the equipment and avoiding the risk of falling off.

[0018] 2. Four-wheel independent drive: Four servo motors independently control the drive wheels. Combined with the wheel groove adaptation design, it supports multi-angle movement and precise path adjustment, improving the crawling ability on curved or inclined surfaces.

[0019] 3. Three-dimensional angle adjustment:

[0020] Vertical movement: A linear motor drives the probe to rise and fall vertically, adapting to the inspection needs of tanks of different thicknesses.

[0021] Horizontal rotation: The rotating motor drives the probe to scan horizontally 360°, covering the entire circumferential detection area.

[0022] Pitch adjustment: The synchronous motor controls the n-type frame to adjust the probe pitch angle and eliminate blind spots in the detection.

[0023] EMAT technology without coupling agent: The electromagnetic ultrasonic probe directly excites ultrasonic waves without the need for traditional coupling agents, making it suitable for high-temperature (such as hot surfaces of storage tanks), rough or oily surfaces, significantly expanding application scenarios.

[0024] 4. Intelligent data and remote control, AI real-time analysis: Integrating wavelet transform and deep learning algorithms, it automatically identifies defect type, size, and depth, generating a 3D visualized C-scan report, reducing human interpretation errors. 5G / Wi-Fi remote control: Remote data transmission and real-time control are achieved through an antenna, reducing the risks of high-altitude operations and improving detection efficiency and safety.

[0025] This utility model has a simple structure and is easy to operate. By adjusting the current, the magnetic strength can be flexibly controlled to adapt to complex areas such as welds and rust on the surface of storage tanks, ensuring the adsorption stability of the equipment and avoiding the risk of falling off. The multi-angle probe adjustment combined with intelligent algorithms can achieve omnidirectional coverage detection and rapid defect location, which is several times more efficient than traditional manual inspection. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of an electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks proposed in this utility model;

[0027] Figure 2 This is a bottom view of the electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks proposed in this utility model.

[0028] Figure 3 This is a structural schematic diagram of the vehicle body, roof, and related parts proposed in this utility model;

[0029] Figure 4 The present utility model proposes Figure 3 A schematic diagram of the structure viewed from below;

[0030] Figure 5 This is a schematic diagram of the angle adjustment mechanism, electromagnetic ultrasonic probe, and related components proposed in this utility model.

[0031] Figure 6 The present utility model proposes Figure 5 A schematic diagram of the structure viewed from below.

[0032] In the diagram: 1. Vehicle body; 11. Grip groove; 12. Top cover; 13. Wheel groove; 14. Detection hole; 2. Camera; 3. Antenna; 4. Servo motor; 41. Drive wheel; 5. Electromagnet; 51. Coil; 6. Control module; 7. Angle adjustment mechanism; 71. Circular plate; 72. Support rod; 73. Linear motor; 74. Rotating plate; 75. Rotating groove; 76. Rotary motor; 77. Synchronous motor; 78. Fixing plate; 79. N-shaped frame; 710. Circular box; 711. Ball bearing; 8. Electromagnetic ultrasonic probe. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0034] Example 1

[0035] Reference Figures 1-6 An electromagnetic ultrasonic wall-climbing detection device for an atmospheric pressure storage tank includes a vehicle body 1, an angle adjustment mechanism 7, and four drive mechanisms. Cameras 2 are installed at both the front and rear ends of the vehicle body 1. A top cover 12 is fixedly installed on the top of the vehicle body 1. Multiple sets of electromagnets 5 are installed inside the vehicle body 1, and coils 51 are wound around the outside of each set of electromagnets 5. The multiple sets of coils 51 are connected in series. The angle adjustment mechanism 7 is located on the bottom inner wall of the vehicle body 1. An electromagnetic ultrasonic probe 8 is installed on the angle adjustment mechanism 7. A detection hole 14 is opened at the center of the bottom of the vehicle body 1. The electromagnetic ultrasonic probe 8 is adapted to the detection hole 14. The four drive mechanisms are located at the four corners of the bottom of the vehicle body 1.

[0036] Specifically, the electromagnetic ultrasonic probe 8 (EMAT) uses the principle of electromagnetic induction to directly generate ultrasonic waves on the surface of the metal being tested, eliminating the need for coupling agents (such as oil or water) required by traditional ultrasonic testing, and is suitable for high-temperature and rough surface environments.

[0037] The vehicle body 1 and roof 12 are made of carbon fiber + glass fiber composite material, with an overall weight of ≤15kg and tensile strength of ≥800MPa.

[0038] In this embodiment, the four drive mechanisms include four servo motors 4, and drive wheels 41 are mounted on the output shafts of the four servo motors 4. The bottom of the vehicle body 1 has four wheel grooves 13, and the four drive wheels 41 are adapted to the four wheel grooves 13. The four servo motors 4 are all mounted on the vehicle body 1. The four wheels are driven independently, and multi-angle adjustment and movement are possible.

[0039] Specifically, it features four-wheel independent drive, with in-wheel motors (5 N·m torque per wheel) and planetary reducers (15:1 reduction ratio). The tires employ a hollow magnetic guide wheel design, with magnets embedded in the wheel hub to reduce magnetic circuit losses.

[0040] In this embodiment, the angle adjustment mechanism 7 includes multiple support rods 72, all of which are fixedly installed on the bottom inner wall of the vehicle body 1. The top of the multiple support rods 72 is equipped with the same circular plate 71. A linear motor 73 is fixedly installed on the top of the circular plate 71. A circular box 710 is installed on the output shaft of the linear motor 73. A rotating plate 74 is rotatably installed on the bottom of the circular box 710. A vertical angle adjustment unit is provided at the bottom of the rotating plate 74. The electromagnetic ultrasonic probe 8 is connected to the vertical angle adjustment unit. The linear motor 73 drives the circular box 710, the rotating plate 74, and the electromagnetic ultrasonic probe 8 to move vertically.

[0041] In this embodiment, a rotary motor 76 is fixedly installed on the top inner wall of the circular box 710. The output shaft of the rotary motor 76 is fixedly installed at the top center of the rotating plate 74. A rotating groove 75 is opened on the top of the rotating plate 74. A plurality of ball bearings 711 are embedded in the bottom of the circular box 710. The circular box 710 is located in the rotating groove 75, and the plurality of ball bearings 711 are slidably connected to the inner wall of the rotating groove 75. The rotary motor 76 drives the rotating plate 74 to rotate, and the rotating plate 74 drives the electromagnetic ultrasonic probe 8 to rotate horizontally.

[0042] In this embodiment, the vertical angle adjustment unit includes two fixed plates 78, both of which are fixedly installed on the bottom of the rotating plate 74. A synchronous motor 77 is installed on the outer side of each of the two fixed plates 78. The same n-shaped frame 79 is installed on the output shaft of the two synchronous motors 77. The output shaft of the two synchronous motors 77 is rotatably connected to the two fixed plates 78. The electromagnetic ultrasonic probe 8 is installed inside the n-shaped frame 79. The vertical angle of the n-shaped frame 79 is adjusted by the two synchronous motors 77, and the n-shaped frame 79 drives the electromagnetic ultrasonic probe 8 to adjust its vertical angle.

[0043] In this embodiment, a control module 6 is installed inside the vehicle body 1. The control module 6 includes a data acquisition and analysis system, a remote control module, and a power supply. An antenna 3 is connected to the remote control module and is installed on the outside of the top cover 12. The antenna 3 improves the efficiency and range of wireless transmission.

[0044] Specifically, the data acquisition and analysis system acquires ultrasonic echo signals in real time and automatically identifies defect types, sizes, and depths through AI algorithms (such as wavelet transform and deep learning models) to generate three-dimensional visualization reports (such as C-scan imaging).

[0045] Remote control module; supports wireless communication (5G / Wi-Fi) to enable remote control and real-time data transmission, reducing the risks of manual high-altitude operations.

[0046] Operating method: During use, the vehicle body 1 is brought into contact with the outside of the atmospheric pressure storage tank via four drive wheels 41. The coils 51 wound around the outer sides of multiple sets of electromagnets 5 are energized, causing the electromagnets 5 to become magnetic. All the electromagnets 5 attract the outside of the atmospheric pressure storage tank, ensuring close contact between the four drive wheels 41 and the outside of the tank. Four servo motors 4 drive the four drive wheels 41 to rotate, propelling the vehicle body 1 to crawl along the outside of the atmospheric pressure storage tank. By adjusting the current to the multiple coils 51, the magnetic strength of the electromagnets 5 is changed. When encountering welds or rusted areas, this ensures the vehicle body 1 remains tightly attached to the outside of the atmospheric pressure storage tank, preventing it from detaching. This is achieved through electromagnetic... The ultrasonic probe 8 performs ultrasonic testing on the interior of the atmospheric pressure storage tank and feeds back the test results to the data acquisition and analysis system. The data is then transmitted remotely via a remote control module. A linear motor 73 drives the circular box 710, the rotating plate 74, and the electromagnetic ultrasonic probe 8 to move vertically. A rotary motor 76 drives the rotating plate 74 to rotate, which in turn drives the electromagnetic ultrasonic probe 8 to rotate horizontally. Two synchronous motors 77 drive the n-shaped frame 79 to adjust its vertical angle, which in turn drives the electromagnetic ultrasonic probe 8 to adjust its vertical angle. This allows for multi-angle adjustment of the electromagnetic ultrasonic probe 8, changing the angle at which it detects the atmospheric pressure storage tank and improving the detection effect.

[0047] Example 2

[0048] In this embodiment, the difference between Embodiment 2 and Embodiment 1 is that: both sides of the vehicle body 1 are provided with grip grooves 11, and the interior of both grip grooves 11 is arc-shaped. The two grip grooves 11 are used to grip the vehicle body 1. All structures in this application can be selected in terms of material and length according to actual use. The attached drawings are schematic structural diagrams, and the actual dimensions can be adjusted appropriately.

[0049] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks, characterized in that, include: The vehicle body (1) is equipped with cameras (2) at both the front and rear ends. A top cover (12) is fixedly installed on the top of the vehicle body (1). Multiple sets of electromagnets (5) are installed inside the vehicle body (1). Coils (51) are wound around the outside of the multiple sets of electromagnets (5). The multiple sets of coils (51) are connected in series. An angle adjustment mechanism (7) is set on the bottom inner wall of the vehicle body (1). An electromagnetic ultrasonic probe (8) is installed on the angle adjustment mechanism (7). A detection hole (14) is opened at the center of the bottom of the vehicle body (1). The electromagnetic ultrasonic probe (8) is adapted to the detection hole (14). Four drive mechanisms are located at the bottom four corners of the vehicle body (1).

2. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 1, characterized in that, The four drive mechanisms include four servo motors (4), and drive wheels (41) are mounted on the output shafts of the four servo motors (4). The bottom of the vehicle body (1) has four wheel grooves (13), and the four drive wheels (41) are adapted to the four wheel grooves (13). The four servo motors (4) are all mounted on the vehicle body (1).

3. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 1, characterized in that, The angle adjustment mechanism (7) includes multiple support rods (72), which are all fixedly installed on the bottom inner wall of the vehicle body (1). The top of the multiple support rods (72) is equipped with the same circular plate (71). A linear motor (73) is fixedly installed on the top of the circular plate (71). A circular box (710) is installed on the output shaft of the linear motor (73). A rotating plate (74) is rotatably installed on the bottom of the circular box (710). A vertical angle adjustment unit is provided at the bottom of the rotating plate (74). The electromagnetic ultrasonic probe (8) is connected to the vertical angle adjustment unit.

4. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 3, characterized in that, A rotary motor (76) is fixedly installed on the top inner wall of the circular box (710), and the output shaft of the rotary motor (76) is fixedly installed at the top center position of the rotating plate (74).

5. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 3, characterized in that, The top of the rotating plate (74) is provided with a rotating groove (75), and the bottom of the circular box (710) is embedded with multiple balls (711). The circular box (710) is located in the rotating groove (75), and the multiple balls (711) are slidably connected to the inner wall of the rotating groove (75).

6. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 3, characterized in that, The vertical angle adjustment unit includes two fixed plates (78), both of which are fixedly installed on the bottom of the rotating plate (74). Synchronous motors (77) are installed on the outer side of both fixed plates (78). The same n-shaped frame (79) is installed on the output shaft of the two synchronous motors (77). The output shaft of the two synchronous motors (77) is rotatably connected to the two fixed plates (78). The electromagnetic ultrasonic probe (8) is installed inside the n-shaped frame (79).

7. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 1, characterized in that, The vehicle body (1) is equipped with a control module (6), which includes a data acquisition and analysis system, a remote control module, and a power supply.

8. The electromagnetic ultrasonic wall-climbing detection device for atmospheric pressure storage tanks according to claim 7, characterized in that, The remote control module is connected to an antenna (3), which is installed on the outside of the top cover (12).

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