CN107807171A - A kind of testing agency of in-service Large Oil Tank Corrosion monitoring robot - Google Patents

Abstract

The invention discloses a detection mechanism of a corrosion detection robot for a large crude oil storage tank in service. The overall structure includes a hinge support, a support rod, a detection rod, a connecting piece, and an ultrasonic thickness measuring probe. The hinge support positions and supports, detects the two rods and realizes relative rotational movement between the two rods. The support rod is a two-stage hydraulic cylinder, the first stage is an ordinary piston cylinder, and the second stage piston rod plus spring structure realizes expansion and contraction. The detection rod is a single-stage, double-acting hydraulic cylinder. Considering oil and gas explosion-proof, the signal is transmitted through the spring wire in the cylinder, and the two ends of the cylinder are connected with threaded plugs. The end of the piston rod is connected with an ultrasonic probe with an elastic element to realize bottoming buffer. During detection, the support rod pushes out the detection rod, and the detection rod extends through the bottom plate of the oil sludge contact tank to measure the thickness. After the measurement, the detection rod retracts, and the support rod pulls back the detection rod. The invention can effectively bypass obstacles such as tank bottom heating coils, accurately obtain bottom plate thickness data, and improve the online detection efficiency of storage tank corrosion.

Description

A detection mechanism of a corrosion detection robot for large crude oil storage tanks in service

technical field

The invention belongs to the technical field of on-line detection of storage tank corrosion, in particular to a detection mechanism of a corrosion detection robot for large crude oil storage tanks in service.

Background technique

At present, the number of oil storage tanks in our country is huge, so the safety of oil storage tank operation is becoming increasingly prominent. The main hidden danger affecting the safe operation of oil storage tanks is the oil leakage caused by the corrosion of the bottom plate of the storage tank. Therefore, regular storage tank safety monitoring is required. and evaluation, check the corrosion of storage tanks, prevent oil leakage and safety accidents after leakage. At present, domestic storage tank defect detection generally adopts regular tank opening inspection measures, but tank opening inspection generally requires shutdown and tank cleaning, which requires a lot of manpower and material resources. Therefore, storage tank online inspection technology has become a trend. Wave, robot online detection and other methods, among which the robot online detection is the most effective and feasible. The current robot online inspection uses the method of walking on the bottom of the tank, which is only suitable for refined oil storage tanks with fewer obstacles. For crude oil storage tanks with a large amount of sludge and heating coils, this detection method is not applicable, so It is urgent to propose a targeted detection mechanism.

Contents of the invention

Aiming at the inability of existing robots to detect the corrosion of the bottom plate of the storage tank when there are obstacles on the bottom plate of the storage tank, the invention discloses a detection mechanism for a corrosion detection robot of a large crude oil storage tank in service.

The technical scheme adopted in the present invention is:

The mechanism is composed of a hinge support, a support rod, a connecting piece, a detection rod, and an ultrasonic thickness measuring probe. The hinge support at the left end fixes the support rod, and the hinge support at the right end fixes the detection rod, and realizes the relative rotation between the two rods. The support rod is a two-stage hydraulic cylinder, and the first-stage piston cylinder is a hydraulic cylinder that uses hydraulic pressure to enter and return oil to perform telescopic movement; the second-stage piston rod is stretched out through the small hole at the tail of the first-stage piston cylinder, and at the same time drives The additional spring is stretched, and the piston rod is retracted by the restoring force of the spring during the oil return process. The connecting piece realizes the force and torque transmission from the support rod to the detection rod. The detection rod is a single-stage, double-acting hydraulic cylinder, and the expansion and contraction of the piston rod is realized by changing the direction of the inlet (outlet) oil port; considering the oil and gas explosion-proof, the spring wire is used in the cylinder, and the spring wire is connected to the aviation plug; the left end aviation plug is connected to the base of the cylinder body The end is connected by thread seal, the aviation plug at the right end is threaded with the elastic telescopic sleeve; the left end of the elastic telescopic sleeve is threaded with the piston rod, and the right end is fixedly connected with the ultrasonic thickness measuring probe.

During detection, the detection mechanism is hydraulically driven to extend the support rod to push the detection rod to open, and then the piston rod of the detection rod is extended to drive the ultrasonic probe through the sludge to contact the bottom plate, and the elastic telescopic sleeve plays a role in the contact process. Tighten and cushion, after the ultrasonic thickness measuring probe is in place, the thickness is measured by the ultrasonic thickness measuring probe. After the detection is completed, the piston rod of the detection rod is retracted first, and then the detection rod is retracted under the drive of the retraction of the support rod to complete a detection task.

Compared with the prior art, the present invention has the following advantages:

1. Take the lead in proposing this solution in the field of storage tank corrosion on-line detection technology.

2. Compared with the traditional multi-stage telescopic hydraulic cylinder, it adopts spring retraction, which is light and simple.

3. The way of wiring in the hydraulic cylinder solves the problem of oil and gas explosion protection, which is reliable and innovative.

4. A telescopic sleeve with elastic effect is used to connect the piston rod and the ultrasonic thickness measuring probe to prevent the probe from colliding with the bottom plate and causing damage.

5. Using this mechanism can effectively avoid obstacles such as heating coils, and can perform online detection in storage tanks with thick sludge, which is practical and economical.

Description of drawings

Fig. 1 is a schematic structural view of the detection mechanism of an in-service large-scale crude oil storage tank corrosion detection robot in a retracted state according to the present invention.

Fig. 2 is a structural schematic view of a detection mechanism of an in-service large crude oil storage tank corrosion detection robot in an unfolded state according to the present invention.

Fig. 3 is a sectional view of the connector of the present invention.

Fig. 4 is a partial sectional view of the supporting hydraulic rod of the present invention.

Fig. 5 is a partial sectional view of the detection hydraulic rod of the present invention.

In Fig. 1: 1. hinge support, 2. support rod, 3. connector, 4. detection rod, 5. ultrasonic thickness measuring probe.

Among Fig. 2: 201. upper end inlet (out) oil port, 202. cylinder block, 203. oil inlet and outlet holes, 204. cylinder cover, 205. spring, 206. first stage piston cylinder, 207. end cover, 208 second Grade piston rod, 209. piston ring, 211. lower end inlet (out) oil port, 210. dustproof ring, 212. combined sealing ring, 213. piston ring seal.

Among Fig. 3: 4011. left end aviation plug, 4012. right end aviation plug, 402. left end inlet (out) oil port, 403. combination seal ring, 404. piston ring seal, 405. cylinder body, 406. spring wire, 407. Right end inlet (out) oil port, 408. elastic expansion sleeve, 409. dust ring, 410. cylinder cover, 411. piston rod.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 and 2, a detection mechanism of a large-scale crude oil storage tank corrosion detection robot in service in the present invention includes a left hinge support (101), a right hinge support (102), a support rod (2), a connector ( 3), detection rod (4), ultrasonic thickness measuring probe (5). The left end hinge support (101) fixes the support rod (2), and the right end hinge support (102) fixes the detection rod (4); the connecting piece (3) connects the support rod (2) and the detection rod (4); the ultrasonic thickness measuring probe (5) fixed on the front end of the detection rod (4). The structure is a retractable structure, and online detection can still be performed when there are obstacles such as heating coils and oil sludge on the bottom of the storage tank. A complete inspection process is as follows: the support rod (2) stretches out and pushes the detection rod (4) to reach the vertical position, and then the piston rod (411) of the detection rod (4) is stretched out, so that the ultrasonic thickness measurement at the front end of the piston rod (411) The probe (5) passes through the oil sludge to contact the bottom plate for online detection. After the detection is completed, the piston rod (411) of the detection rod (4) is retracted, and then the support rod (2) is retracted to retract the detection rod (4) to the initial position.

As shown in Figure 4, the support rod (2) of the detection mechanism of a large-scale crude oil storage tank corrosion detection robot in service in the present invention includes an upper end (exit) oil port (201), a lower end (exit) oil port (211) , cylinder block (202), oil inlet and outlet holes (203), cylinder cover (204), spring (205), first stage piston cylinder (206), end cover (207), second stage piston rod (208), piston ring (209), dust seal (210), combination sealing ring (212), piston ring seal (213). The cylinder body (202) in the support rod (2) is threadedly connected with the cylinder head (204), and the cylinder head (204) is equipped with a dust-proof ring (210); the first-stage piston cylinder (206) is equipped with a piston ring seal (209) And the combined sealing ring (212), which is slidingly connected with the cylinder body (202); the tail of the first-stage piston cylinder (206) is drilled with an oil inlet and outlet hole (203) and an additional end cover (207), and a spring (205) is welded inside ); the second-stage piston rod (208) is equipped with two piston rings (209), which are slidably connected with the first-stage piston cylinder (206), and welded with the spring (205) in the first-stage piston cylinder (206) . The support rod (2) of the present invention is used to realize the retraction of the detection rod (4). The scheme adopts a two-stage hydraulic cylinder as the support rod (2), and the expansion and contraction of the first-stage piston cylinder (206) relies on the upper and lower ends to enter and exit. (Exit) oil ports (201), (211) enter and return oil to realize the telescopic movement; the expansion and contraction of the second-stage piston rod (208) is divided into two parts: when it stretches out, it passes through the first-stage piston cylinder (206) The small hole (203) at the tail of the oil inlet pushes the second-stage piston rod (208) to stretch out, and the pulling spring (205) is elongated; when shrinking, it relies on hydraulic oil return and spring elastic force to retract. The telescopic movement of the whole secondary piston rod is realized by the movement of these two parts.

As shown in Figure 5, the detection rod (2) of the detection mechanism of a large-scale crude oil storage tank corrosion detection robot in service in the present invention includes a left end aviation plug (4011), a right end aviation plug (4012), and a left end oil inlet (outlet) port (402), right-hand inlet (outlet) oil port (407), combined sealing ring (403), piston ring seal (404), cylinder body (405), spring wire (406), elastic telescopic sleeve (408), anti Dust ring (409), cylinder head (410), piston rod (411). A left end aviation plug (4011) is installed on the left end of the cylinder body (405) in the detection rod (4), and one end of the left end aviation plug (4011) is welded with a spring wire (406); a cylinder cover (410) is installed on the right end of the cylinder body (405) ), the cylinder head (410) is equipped with a dust-proof ring (409); the piston rod (411) is equipped with a piston ring seal (404) and a combined sealing ring (403), which is slidably connected with the cylinder body (405); the piston rod (411 ) right end is threadedly connected with the elastic telescopic sleeve (408), and the elastic telescopic sleeve (408) is threadedly connected with the right end aviation plug (4012); the right end aviation plug (4012) is welded to the other end of the spring electric wire (406); the elastic telescopic sleeve (408) The right end is connected with the ultrasonic thickness measuring probe (5). The detection rod (4) of the present invention is to realize the online detection by sending the ultrasonic thickness measuring probe (5) to the bottom plate of the storage tank, and adopts a single-stage, double-acting hydraulic cylinder. The detection rod stretches out by relying on the oil inlet (outlet) port (402) at the left end and the oil inlet (outlet) port (407) at the right end. ) oil port (402) oil outlet right end enters (exits) oil port (407) enters the oil retraction piston rod (411), realizes the telescoping detection function of detection rod. Considering oil and gas explosion-proof use spring wires (406) in the cylinder, one end of the spring wires (406) is connected to the aviation plug (4011) at the left end, and the other end is connected to the aviation plug (4012) at the right end; the aviation plug (4011) at the left end is connected to the base end of the cylinder body Through the threaded sealing connection, the aviation plug (4012) at the right end is threaded with the elastic telescopic sleeve (408); one end of the elastic telescopic sleeve (408) is threaded with the piston rod (411), and the other end is fixedly connected with the ultrasonic thickness measuring probe (5)

Obviously, many modifications and changes made by those skilled in the art based on the gist of the present invention belong to the protection scope of the present invention.

Claims (3)

1. a kind of testing agency of in-service Large Oil Tank Corrosion monitoring robot, overall structure includes hinged-support (1), support Bar (2), detection bar (3), connector (4), ultrasonic thickness measuring probe (5)；Its integral structure characteristic is：Described overall structure is adopted The folding and unfolding and detection of mechanism are realized by bar linkage structure with two hydraulic cylinders.

2. a kind of testing agency of in-service Large Oil Tank Corrosion monitoring robot as claimed in claim 1, its feature exist In：Described support bar is two-stage hydraulic cylinder, and first order piston cylinder is the double acting cylinder that hydraulic pressure oil inlet and oil return realizes stretching motion；The Second piston rod is stretched out by hydraulic-driven, and the elastic force for the spring for passing through installation is retracted.

3. a kind of testing agency of in-service Large Oil Tank Corrosion monitoring robot as claimed in claim 1, its feature exist In：Described detection bar is single stage hydraulic cylinder, is realized by the oil inlet and oil return of hydraulic pressure flexible；Bar front end install elastic telescopic sleeve pipe with Ultrasonic thickness measuring probe connects, and it detects circuit using cabling mode inside hydraulic cylinder.