CN105689345B - Explosion prevention robot for cleaning the storage and Oilcan cleaning work station - Google Patents
Explosion prevention robot for cleaning the storage and Oilcan cleaning work station Download PDFInfo
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- CN105689345B CN105689345B CN201610165620.XA CN201610165620A CN105689345B CN 105689345 B CN105689345 B CN 105689345B CN 201610165620 A CN201610165620 A CN 201610165620A CN 105689345 B CN105689345 B CN 105689345B
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- prevention robot
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- 238000004880 explosion Methods 0.000 title claims abstract description 116
- 230000002265 prevention Effects 0.000 title claims abstract description 111
- 238000004140 cleaning Methods 0.000 title claims abstract description 68
- 238000003860 storage Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 92
- 238000005406 washing Methods 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 71
- 238000012545 processing Methods 0.000 claims description 34
- 238000002407 reforming Methods 0.000 claims description 33
- 230000009466 transformation Effects 0.000 claims description 17
- 238000013461 design Methods 0.000 claims description 10
- 239000002360 explosive Substances 0.000 claims description 8
- 230000037361 pathway Effects 0.000 claims description 8
- 238000010361 transduction Methods 0.000 claims description 8
- 230000026683 transduction Effects 0.000 claims description 8
- 238000005498 polishing Methods 0.000 claims description 7
- 238000013022 venting Methods 0.000 claims description 7
- 238000010926 purge Methods 0.000 claims description 6
- 238000003466 welding Methods 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000003973 paint Substances 0.000 claims 1
- 230000006378 damage Effects 0.000 abstract description 5
- 208000028571 Occupational disease Diseases 0.000 abstract description 4
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 4
- 239000000725 suspension Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000007634 remodeling Methods 0.000 description 10
- 238000013473 artificial intelligence Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004992 fission Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- 239000010913 used oil Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
This application discloses a kind of explosion prevention robots for cleaning the storage and Oilcan cleaning work station, explosion prevention robot to include：Controller for the presetting job-program mode for carrying out internal washing to current oil tank and being corresponding with explosion prevention robot operating path；The executive item being connected with the controller；And be connected with the controller, for the controller control under drive the executive item by the operating path when to the oil tank implement internal washing driving member.In this way, not only can largely be saved manually using the method that explosion prevention robot work station substitutes mankind's professional mankind's operation, working efficiency can be more increased substantially, the duration is greatly shortened, the loss from suspension of gas station is greatly reduced；Injury of the occupational disease to the mankind can also be effectively avoided using the method that explosion prevention robot work station substitutes the mankind into tank operation simultaneously, fundamentally avoids personal ailing, family burden and medical burden.
Description
Technical field
This application involves oil tank processing technology field more particularly to a kind of explosion prevention robots and oil tank for cleaning the storage
Cleaning station.
Background technology
There is more than 100,000 gas station in China, altogether about 500,000 sunken tankers, and tank section concentration is embedded in the beginning of the nineties, away from
Modern existing about 10-30.Steel single layer oil tank service life is about 25-35, it means that China will will appear large area
Oil tank Fu Shi Seepage leakage, polluted underground water and soil, therefore State Council requires to complete the antiseepage of gas station's oil tank before 2017
Transformation, but oil tank is transformed according to the method for existing hand excavation, estimation needed for complete this huge engineering 10 times several years,
It not only needs to consume a large amount of human and material resources, time during this, and it is irreconcilable with reality to form relevant law
Practical contradiction, once excavating, relevant environmental protection will no longer allow with safety legislation regulation for most gas stations in such as city
Oil tank is buried again, is substantially not present gas station after so just meaning in city, this is clearly a very awkward absurdity
As a result, according to no-dig technique be transformed sunken tankers technology, then can perfectly solve the problems, such as this.
However, used oil tank operating condition in scale removal process is extremely severe dangerous, there is enough knowledge competent not
It is ready to do this work, and lacks knowledge and be difficult to be competent at, leads to the qualified professional mankind extremely shortage, and this will cause
A series of problem, for example, the extension of duration, the generation of original avoidable accident, hidden danger of quality, practitioner's occupational disease it is potential
Injury etc..
Invention content
The application is intended to solve one of above-mentioned technical problem at least to a certain extent.
According to the application's in a first aspect, the application provides a kind of explosion prevention robot for cleaning the storage, including：
For the presetting job-program mode for carrying out internal washing to current oil tank and be corresponding with explosion prevention robot operating path
Controller；
The executive item being connected with the controller；And
It is being connected with the controller, for the controller control under drive the executive item to pass through the working ways
Implement the driving member of internal washing when diameter to the oil tank.
Further, the driving member is assembled by quick chuck and the executive item quick-changing type, and/or, different type
The executive item be directly integrated formula design be mounted on driving member end.
Further, the explosion prevention robot includes following all or part of executive item：
Residual oil component is cleared up outside tank, is opened cover plate for manhole component, rear venting of uncapping except explosive volatile matter component, derusting and is cleaned
Tank inner assembly, dry tank body component, cutting tank inner support member component, polishing cut surface component, pre-tensioner support tank body component, weldering
Connect support body assembly and tank body 3D mapping positioning components.
Further, the explosion prevention robot further includes：
It is being connected with the controller, for being interacted with operation of arranging in pairs or groups with other explosion prevention robots and/or the mankind
Interaction module.
Further, the explosion -proof machine artificially snakelike explosion prevention robot or explosion prevention robot of creeping.
According to the second aspect of the application, the application provides a kind of Oilcan cleaning work station, includes that above-mentioned such as is used for clearly
The explosion prevention robot of oil-washing tank and a tower structure, the artificial snakelike explosion prevention robot of the explosion -proof machine are described snakelike explosion-proof
In in the tower structure, the tower structure has for the snakelike explosion prevention robot movable movable chamber robotic asssembly.
Further, the Oilcan cleaning work station includes：At least two explosion prevention robots for cleaning the storage.
Further, the tower structure includes：
Pylon；And
It is assemblied on the pylon, the capstan winch for driving the snakelike explosion prevention robot to be moved along the movable chamber.
Further, the tower structure further includes：
It is assemblied in the hydraulic support of the nearly oil tank both sides of the pylon.
Further, the Oilcan cleaning work station further includes：
Tool seat for containing the executive item.
The advantageous effect of the application is：
Include by providing a kind of explosion prevention robot and Oilcan cleaning work station, explosion prevention robot for cleaning the storage：
Controller for the presetting job-program mode for carrying out internal washing to current oil tank and being corresponding with explosion prevention robot operating path；
The executive item being connected with the controller；And be connected with the controller, for the controller control under drive institute
State executive item by when the operating path to the oil tank implement internal washing driving member.In this way, using explosion prevention robot
The method that work station substitutes mankind's professional mankind's operation not only can be saved largely manually, can more increase substantially work effect
The duration is greatly shortened in rate, and the loss from suspension of gas station is greatly reduced；Simultaneously the mankind are substituted using explosion prevention robot work station
Method into tank operation can also effectively avoid injury of the occupational disease to the mankind, fundamentally avoid personal ailing, family and bear
Load and medical burden；Again, it can also be saved using the method that explosion prevention robot work station substitutes mankind's professional mankind's operation
A large amount of mankind's labour protection expense, allows country more reasonably to distribute related resource；Finally, pass through tank body 3D data and position
Acquisition, systematic can not only know that tank body data establish complete skill archives, can also directly obtain accurate tank volume
Table and related gas station big data are supplied to country to do related data from investigation.
Description of the drawings
Fig. 1 is the flow diagram of the remodeling method of the oil tank of the embodiment of the present application.
Fig. 2 be the embodiment of the present application snakelike explosion prevention robot do not enter tank or from oil tank come out after situation schematic diagram it
One.
Fig. 3 be the embodiment of the present application snakelike explosion prevention robot do not enter tank or from oil tank come out after situation schematic diagram it
Two.
Fig. 4 is that the snakelike explosion prevention robot of the embodiment of the present application is substantially 1/4 one of situation schematic diagram when entering tank.
Fig. 5 is that the snakelike explosion prevention robot of the embodiment of the present application is substantially the two of 1/4 situation schematic diagram when entering tank.
Fig. 6 is that the snakelike explosion prevention robot of the embodiment of the present application is substantially 3/4 one of situation schematic diagram when entering tank.
Fig. 7 is that the snakelike explosion prevention robot of the embodiment of the present application is substantially the two of 3/4 situation schematic diagram when entering tank.
Fig. 8 substantially enters situation schematic diagram when tank and full extension for the snakelike explosion prevention robot of the embodiment of the present application entirely
One of.
Fig. 9 substantially enters situation schematic diagram when tank and full extension for the snakelike explosion prevention robot of the embodiment of the present application entirely
Two.
Figure 10 be the embodiment of the present application snakelike explosion prevention robot substantially enter full tank and fold when situation schematic diagram it
One.
Figure 11 be the embodiment of the present application snakelike explosion prevention robot substantially enter full tank and fold when situation schematic diagram it
Two.
Figure 12 is the structural schematic diagram of the explosion prevention robot of the embodiment of the present application.
Specific implementation mode
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
In the description of the present application, it is to be understood that term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
It describes the application and simplifies to describe, do not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connects, and can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two members
Connection inside part.For the ordinary skill mankind of this field, above-mentioned term can be understood in this Shen as the case may be
Please in concrete meaning.
In this application unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
The application is described in further detail below by specific implementation mode combination attached drawing.
Embodiment one：
A kind of remodeling method of oil tank is present embodiments provided, realizes that excavation type is not transformed mainly for sunken tankers, and
The cleaning method of oil tank is contained in the remodeling method of the oil tank.
The remodeling method of above-mentioned oil tank includes flow as shown in Figure 1：
101, the job-program mode of the presetting current explosion prevention robot that internal transformation is carried out to current oil tank, job-program mode pair
It should be in the operating path of current explosion prevention robot, specifically, explosion prevention robot is based on the job-program mode execution pair in its controller
The action answered, for example, the completely active whole processes for completing to carry out current oil tank internal transformation, alternatively, being interacted with personnel
Semi-active type is completed to carry out current oil tank whole processes of internal transformation, or interacts active form with other explosion prevention robots
Complete whole processes etc. to the internal transformation of current oil tank progress.In order to complete the inside transformation to oil tank, explosion prevention robot
Executive item needs the pending position for being moved to oil tank, and therefore, job-program mode is corresponding with the operating path of explosion prevention robot, when anti-
When the executive item of quick-fried robot is moved to the pending position of oil tank according to operating path, you can at the pending position
Reason；
Job-program mode some or all of is corresponding in following reforming processing process：
Residual oil process is cleared up outside tank, is opened cover plate for manhole process, is opened cover plate for manhole rear venting except explosive volatile matter process, derusting
And process, cutting tank inner support member process, polishing cut surface process, dry tank body process, pre- tensioner support tank body in purge tank
Process, welding support element process, tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving process, adjoint quality inspection work
Sequence, tank body 3D survey and draw positioning process.
Residual oil process is cleared up outside the tank being corresponding in job-program mode in above-mentioned each reforming processing process, opens cover plate for manhole work
Sequence opens cover plate for manhole rear venting except in explosive volatile matter process, derusting and purge tank when process, dry tank body process, you can complete
The cleaning of pairs of oil tank.And be corresponding in the job-program mode cutting tank inner support member process in above-mentioned each reforming processing process,
When cut surface process, pre- tensioner support tank body process and the welding support element process of polishing, it may be necessary to be pre-processed to oil tank
Above-mentioned operation, or follow-up tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving process, adjoint quality inspection could be executed
The reforming processings such as process, tank body 3D mapping positioning process.
102, current explosion prevention robot implements internal transformation under job-program mode guiding, by operating path to oil tank.Tool
Body, when explosion prevention robot is transformed inside implementing to oil tank, need through several reforming processing processes, these reforming processing works
Sequence can be defined by job-program mode, and typically for different reforming processing processes, the executive item of explosion prevention robot not phase
Together, corresponding reforming processing process is executed by a certain type executive item.When needing to replace executive item, it is related at least two feelings
Condition, first, when explosion prevention robot carries integrated form or semi-integrated type executive module, explosion prevention robot is directly in current stop place
Complete executive item conversion；Second, tool seat fission design and it is external, explosion prevention robot then need by transduction pathway replace execute
Part.Explosion prevention robot executive item may be designed to split structure according to actual demand, completes executive item by fast replacing device and replaces,
It can also be designed to integrated structure, executive item is replaced by controllable extensible or transformation angle, it can also be mixed using two ways
The design structure of conjunction.
Correspondingly, as shown in figs. 2-11, the present embodiment additionally provides a kind of Oilcan cleaning/retrofit work station, including one
Explosion prevention robot 1 for cleaning or being transformed oil tank 3 and a tower structure 2, explosion prevention robot 1 are snakelike explosion prevention robot,
Snakelike explosion prevention robot 1 is assemblied in tower structure 2, and tower structure 2, which has, supplies snakelike 1 movable movable chamber of explosion prevention robot.
Wherein, the tower structure 2 includes：Pylon 21；It is assemblied on pylon 21, for driving snakelike explosion prevention robot 1
The capstan winch 22 moved along movable chamber, and, it is assemblied in the hydraulic support 23 of 3 both sides of nearly oil tank of pylon 21.
As shown in figure 12, explosion prevention robot 1 includes：Internal washing or transformation are carried out simultaneously to current oil tank 3 for presetting
It is corresponding with the controller 11 of the job-program mode of 1 operating path of explosion prevention robot；The executive item 12 being connected with controller 11；And
It is being connected with controller 11, interior for implementing to oil tank 3 when drive executive item 12 passes through operating path under the control of controller 11
Portion is cleaned or the driving member 13 of transformation.Specifically, industrial PC, PLC, microcontroller or MCU etc., driving member can be used in controller 11
13 can be used Multi-shaft mechanical arm, such as 5 axis, 6 axis, 8 axis, 9 shaft mechanical arms, and mechanical arm lengths sum number amount etc. can be according to needing to clean
Or the size of oil tank 3 is transformed to design, executive item 12 can be according to the requirement for cleaning or being transformed oil tank, using the portion in such as lower component
Divide or whole：Residual oil component is cleared up outside tank, is opened manhole cap assemblies, rear venting of uncapping except explosive volatile matter component, derusting and is cleaned
Tank inner assembly, dry tank body component, tank inner surface spray assembly, covering laminating component, blanks and moulding and conserving component, quality inspection component,
Tank inner support member component, polishing cut surface component, pre- tensioner support tank body component, welding support body assembly, tank body 3D is cut to survey
Positioning component is painted, specifically, tank clears up Residual oil component and derusting outside and purge tank inner assembly can be explosion-proof type high-voltage hydraulic giant and prevent
Quick-fried type pulsating pump, it can be the gripper with adaptive explosion-proof pneumatically or electrically wrench to open manhole cap assemblies, after opening cover plate for manhole
Ventilation can be blowing device or extractor fan except explosive volatile matter component, and dry tank body component can be that heating air pump or high energy are penetrated
Lamp, tank inner surface spray assembly can be blackwash sprayer or roller, and structural member laminating component can be adaptive pressing device, cut tank
Inner support member component is water knife, and polishing cut surface component can be wet type angle grinder, tank body 3D mapping positioning components for GPS moulds
The 3D scanners etc. of group.Certainly, need additional description, explosion prevention robot 1 that can integrate industrial vision system simultaneously when realizing
System and implantable artificial logic, the multichannel collision avoidance system and artificial intelligence control that explosion prevention robot 1 is realized with detecting instrument etc..Control
Device 11 processed can carry out driving member 13 and executive item 12 centerized fusion or distributed AC servo system and interactive cooperation control.
When executive item 12 is using as some or all of in lower component, you can form the explosion -proof machine for cleaning the storage
People：Residual oil component is cleared up outside tank, opens manhole cap assemblies, rear venting of uncapping except group in explosive volatile matter component, derusting and purge tank
Part and dry tank body component.And when executive item 12 is using just like some or all of in lower component, you can carried out to oil tank pre-
Processing could realize the cleaning or transformation of oil tank：It cuts tank inner support member component, polishing cut surface component, pre- tensioner and supports tank body
Component and welding support body assembly, tank body 3D survey and draw positioning component.
Different types of executive item 12 can be directly integrated formula design and be mounted on driving member end, be set to form integrated form
Meter.
Correspondingly, when using above-mentioned Oilcan cleaning/retrofit work station, the cleaning of oil tank 3 or remodeling method specifically include：
The job-program mode that internal washing or transformation are carried out to current oil tank 3 presetting to controller 11, job-program mode correspond to
In explosion prevention robot 1 operating path and guide controller 11 to carry out corresponding control；
Driving member 13 drives executive item 12 by operating path under the control of controller 11, and executive item 12 passes through operating path
When internal washing or transformation are implemented to oil tank 3.
In this way, not only can largely be saved using the method that explosion prevention robot work station substitutes human expertise's operation
Manually, working efficiency can be more increased substantially, the duration is greatly shortened, the loss from suspension of gas station is greatly reduced；Simultaneously
Injury of the occupational disease to the mankind can also be effectively avoided using the method that explosion prevention robot work station substitutes the mankind into tank operation, from
Fundamentally avoid personal ailing, family burden and medical burden；Again, special using the explosion prevention robot work station replacement mankind
The method of industry personnel's operation can also save a large amount of mankind's labour protection expense, and country is allow more reasonably to distribute related money
Source.
Embodiment two：
The present embodiment is essentially consisted in above-described embodiment difference：
In the cleaning of the oil tank 3 of the present embodiment or remodeling method, in the case where tool seat is external：
When job-program mode is corresponding at least two cleanings or reforming processing process, and operating path includes：With reforming processing
When corresponding at least two main path of process and transduction pathway, current explosion prevention robot 1 passes through work under job-program mode guiding
Path implements internal washing to oil tank 3 or transformation specifically includes：
First, current explosion prevention robot 1 is current clear by being executed to oil tank when current main path under job-program mode guiding
It washes or reforming processing process；
Then, after completing current cleaning or reforming processing process, current explosion prevention robot 1 under job-program mode guiding,
It is converted to down from the corresponding current cleaning of current cleaning or reforming processing process or reforming processing state by current transduction pathway
One cleaning or reforming processing state hold current execution specifically, explosion prevention robot needs to replace executive item by transduction pathway
Part progress currently cleaning or reforming processing process are current cleaning or reforming processing state, and it is next clear to hold next executive item progress
It washes or reforming processing process is next cleaning or reforming processing state；
Then, current explosion prevention robot 1 is next clear by being executed to oil tank when next main path under job-program mode guiding
It washes or reforming processing process.
Correspondingly, Oilcan cleaning/retrofit work station further comprises：Tool seat 24 for containing executive item 12, tool
Seat 24 is external relative to explosion prevention robot 1.And in explosion prevention robot 1, driving member 13 is fast by fast replacing device 14 and executive item 12
Change formula assembly.
Correspondingly, when using above-mentioned Oilcan cleaning/retrofit work station, the cleaning of oil tank 3 or remodeling method specifically include：
When job-program mode is corresponding at least two cleanings or reforming processing process, and operating path includes：With clean or change
When making corresponding at least two main path for the treatment of process and transduction pathway, driving member 13 drives executive item under the control of controller 11
12 by operating path, implements internal washing to oil tank 3 when executive item 12 passes through operating path or transformation specifically includes：
Under job-program mode guiding, control driving member 13 acts controller 11, and current executive item 12 is made to pass through current main road
Current cleaning or reforming processing process are executed to oil tank 3 when diameter；
After completing current cleaning or reforming processing process, controller 11 controls driving member 13 under job-program mode guiding
Action, the current executive item 12 on fast replacing device 14 is replaced with by next executive item 12 by current transduction pathway, with complete from
Current cleaning or the corresponding current cleaning of reforming processing process or reforming processing state are converted to next cleaning or reforming processing shape
State；
Under job-program mode guiding, control driving member 13 acts controller 11, and next executive item 12 is made to pass through next main road
Next cleaning or reforming processing process are executed to oil tank 3 when diameter.
When executive item 12 is integrated form or hybrid design, controller 11 directly drives and holds under job-program mode guiding
Row part 12 is in situ to complete executive item converting process, other aspects are the same as the explosion prevention robot for using tool seat external structure.
Embodiment three：
The present embodiment is essentially consisted in above-described embodiment difference：
The cleaning of the oil tank 3 of the present embodiment or remodeling method further include：
Current explosion prevention robot 3 is interacted by interactive module and other explosion prevention robots and/or personnel to be made with arranging in pairs or groups
Industry.Specifically, explosion prevention robot 3 can flexibly be arranged in pairs or groups according to actual conditions with the explosion prevention robot of the mankind or another work station
It fulfils assignment.
Correspondingly, Oilcan cleaning/retrofit work station in the present embodiment includes at least two explosion prevention robots 1 or at least 1
A explosion prevention robot and 1 mankind.The explosion prevention robot 1 of the present embodiment further includes：The interaction module being connected with controller 11 is used
It is interacted with operation of arranging in pairs or groups in other explosion prevention robots and/or personnel.
Example IV：
The present embodiment is essentially consisted in above-described embodiment difference：
In the present embodiment, explosion prevention robot 1 is using explosion prevention robot of creeping.
It should be noted that due to there is Residual oil before cleaning in oil tank 1, to avoid to the oil stains of explosion prevention robot 1
The damage of matter, it is more reliable compared with other forms explosion prevention robot using snakelike explosion prevention robot, the reason is that, snakelike explosion prevention robot
Operation is carried out in a manner of suspending in midair tower structure, will not touch inner wall of oil tank so that explosion prevention robot ensure that cleaning.
Referring to Oilcan cleaning/retrofit work station in Fig. 2-11 illustration each embodiments of the application, explosion -proof machine
People and corresponding Oilcan cleaning or remodeling method.
As Figure 2-3, it is that snakelike explosion prevention robot does not enter tank or the situation after being come out in oil tank.
As illustrated in figures 4-5, be snakelike explosion prevention robot it is substantially 1/4 situation when entering tank.
As shown in fig. 6-7, be snakelike explosion prevention robot it is substantially 3/4 situation when entering tank.
As Figure 8-9, substantially enter situation when tank and full extension entirely for snakelike explosion prevention robot.
As shown in figs. 10-11, situation when substantially entering tank entirely for snakelike explosion prevention robot and folding.
The application of above-mentioned Oilcan cleaning/retrofit work station, explosion prevention robot and corresponding Oilcan cleaning or remodeling method is lifted
Under such as:
The first step puts down work station in tank field, prepares to receive the signal that goes into operation to its power on self test；
Second step, work station is according to manual command or the positioning of default artificial intelligence and close to alignment target oil tank；
Third walks, and work station is according to manual command or the corresponding work post executive item preparation work of default artificial intelligence selection；
4th step, work station stretch the driving member with corresponding job execution part according to manual command or default artificial intelligence
Enter and carries out operation inside oil tank body；
5th step, work station are completed to preset operation according to manual command or default artificial intelligence sequence；
6th step, work station automatically retracted after being fulfiled assignment according to manual command or default artificial intelligence and retract it is original go out
Send out the transitions to be recycled such as position.
In the description of this specification, reference term " embodiment ", " some embodiments ", " an implementation
The description of example ", " some embodiments ", " example ", " specific example " or " some examples " etc. means to combine the embodiment or example
Particular features, structures, materials, or characteristics described are contained at least one embodiment or example of the application.In this explanation
In book, schematic expression of the above terms may not refer to the same embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
The foregoing is a further detailed description of the present application in conjunction with specific implementation manners, and it cannot be said that this Shen
Specific implementation please is confined to these explanations.For the ordinary skill mankind of the application technical field, do not taking off
Under the premise of conceiving from the application, a number of simple deductions or replacements can also be made.
Claims (9)
1. a kind of explosion prevention robot for cleaning the storage, which is characterized in that including：
Internal washing and transformation and the work journey for being corresponding with explosion prevention robot operating path are carried out to current oil tank for presetting
The controller of formula, the operating path are corresponding with cleaning or reforming processing process, and the cleaning or reforming processing process include tank
Outer cleaning Residual oil process opens cover plate for manhole process, opens cover plate for manhole rear venting except in explosive volatile matter process, derusting and purge tank
Process, cutting tank inner support member process, polishing cut surface process, dry tank body process, pre- tensioner support tank body process, welding branch
Support member process, tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving process, adjoint quality inspection process and tank body 3D are surveyed
Paint positioning process；
The executive item being connected with the controller, the executive item include derusting and purge tank inner assembly and tank body 3D mapping positioning
Component；And
It is being connected with the controller, for the controller control under drive the executive item by the operating path when
Internal washing and the driving member of transformation are implemented to the oil tank；
The operating path include with the cleaning or corresponding at least two main path of reforming processing process and transduction pathway, when
The preceding explosion prevention robot is under job-program mode guiding, by executing current institute to the oil tank when presently described main path
Cleaning or reforming processing process are stated, after completing presently described cleaning or reforming processing process, presently described explosion prevention robot is logical
It crosses the transduction pathway and replaces the executive item, presently described explosion prevention robot is under job-program mode guiding, by next
Next cleaning or reforming processing process are executed to the oil tank when main path.
2. the explosion prevention robot as described in claim 1 for cleaning the storage, which is characterized in that the driving member passes through quick change
Device is assembled with the executive item quick-changing type, and/or, the different types of executive item is directly integrated formula design and is mounted on transmission
Part end.
3. the explosion prevention robot for cleaning the storage as claimed in claim 2, which is characterized in that the explosion prevention robot includes
Just like the executive item using integrated form design or split-type design or hybrid design of lower part or whole, the executive item is also
Including：
Residual oil component is cleared up outside tank, opens cover plate for manhole component, rear venting of uncapping except explosive volatile matter component and dry tank body component.
4. the explosion prevention robot as claimed in claim 3 for cleaning the storage, which is characterized in that the explosion prevention robot also wraps
It includes：
It is being connected with the controller, for being interacted with the interaction for operation of arranging in pairs or groups with other explosion prevention robots and/or the mankind
Module.
5. the explosion prevention robot for cleaning the storage as described in any one of claim 1-4, which is characterized in that described explosion-proof
Machine artificially snakelike explosion prevention robot or explosion prevention robot of creeping.
6. a kind of Oilcan cleaning work station, which is characterized in that including the blasting-proof machine for being used to clean the storage as claimed in claim 5
Device people and a tower structure, artificially snakelike explosion prevention robot, the snakelike explosion prevention robot are assemblied in institute to the explosion -proof machine
It states in tower structure, the tower structure, which has, supplies the snakelike movable movable chamber of explosion prevention robot.
7. Oilcan cleaning work station as claimed in claim 6, which is characterized in that the tower structure includes：
Pylon；And
It is assemblied on the pylon, the capstan winch for driving the snakelike explosion prevention robot to be moved along the movable chamber.
8. Oilcan cleaning work station as claimed in claim 7, which is characterized in that the tower structure further includes：
It is assemblied in the hydraulic support of the nearly oil tank both sides of the pylon.
9. Oilcan cleaning work station as claimed in claim 6, which is characterized in that the Oilcan cleaning work station further includes：
Tool seat for containing the executive item.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165620.XA CN105689345B (en) | 2016-03-22 | 2016-03-22 | Explosion prevention robot for cleaning the storage and Oilcan cleaning work station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610165620.XA CN105689345B (en) | 2016-03-22 | 2016-03-22 | Explosion prevention robot for cleaning the storage and Oilcan cleaning work station |
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| Publication Number | Publication Date |
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| CN105689345A CN105689345A (en) | 2016-06-22 |
| CN105689345B true CN105689345B (en) | 2018-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610165620.XA Active CN105689345B (en) | 2016-03-22 | 2016-03-22 | Explosion prevention robot for cleaning the storage and Oilcan cleaning work station |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643630B (en) * | 2016-03-22 | 2018-04-10 | 深圳市百事达卓越科技股份有限公司 | The remodeling method of oil tank |
| CN109013588B (en) * | 2018-07-10 | 2020-10-16 | 北京石油化工学院 | An explosion-proof positioning method for an above-ground vertical oil storage tank cleaning robot |
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| EP0194926A1 (en) * | 1985-03-15 | 1986-09-17 | Chantiers Du Nord Et De La Mediterranee | Multiple purpose robot for treating the inside walls of containment chambers |
| CN2925781Y (en) * | 2006-06-01 | 2007-07-25 | 北京九鼎绿环科技有限公司 | Robot for cleaning tank wagon in railway |
| DE102011075078A1 (en) * | 2011-05-02 | 2012-11-08 | BSH Bosch und Siemens Hausgeräte GmbH | Laundry storage device for use with e.g. washing machine in laundry treatment device, has laundry transporting device transporting laundry into and/or out of laundry container, and control unit controlling laundry transporting device |
| CN103283404A (en) * | 2012-03-02 | 2013-09-11 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN205701743U (en) * | 2016-03-22 | 2016-11-23 | 深圳市百事达卓越科技股份有限公司 | For the explosion prevention robot cleaned the storage and tank cleaning work station |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2256572B1 (en) * | 2009-05-15 | 2013-01-16 | Samsung Electronics Co., Ltd. | Mobile robot system and improved method of working space confinement |
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|---|---|---|---|---|
| EP0194926A1 (en) * | 1985-03-15 | 1986-09-17 | Chantiers Du Nord Et De La Mediterranee | Multiple purpose robot for treating the inside walls of containment chambers |
| CN2925781Y (en) * | 2006-06-01 | 2007-07-25 | 北京九鼎绿环科技有限公司 | Robot for cleaning tank wagon in railway |
| DE102011075078A1 (en) * | 2011-05-02 | 2012-11-08 | BSH Bosch und Siemens Hausgeräte GmbH | Laundry storage device for use with e.g. washing machine in laundry treatment device, has laundry transporting device transporting laundry into and/or out of laundry container, and control unit controlling laundry transporting device |
| CN103283404A (en) * | 2012-03-02 | 2013-09-11 | 苏州宝时得电动工具有限公司 | Automatic walking equipment and control method thereof |
| CN205701743U (en) * | 2016-03-22 | 2016-11-23 | 深圳市百事达卓越科技股份有限公司 | For the explosion prevention robot cleaned the storage and tank cleaning work station |
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|---|---|
| CN105689345A (en) | 2016-06-22 |
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