CN105643630B - The remodeling method of oil tank - Google Patents
The remodeling method of oil tank Download PDFInfo
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- CN105643630B CN105643630B CN201610167759.8A CN201610167759A CN105643630B CN 105643630 B CN105643630 B CN 105643630B CN 201610167759 A CN201610167759 A CN 201610167759A CN 105643630 B CN105643630 B CN 105643630B
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- explosion prevention
- current
- tank
- prevention robot
- oil tank
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- 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
Abstract
This application discloses a kind of remodeling method of oil tank, including：The job-program mode of the presetting current explosion prevention robot that internal transformation is carried out to current oil tank, the job-program mode correspond to the operating path of the current explosion prevention robot；The current explosion prevention robot implements internal transform to the oil tank under job-program mode guiding, by the operating path.So, the method for human expertise's operation is substituted using explosion prevention robot work station not only can largely be saved manually, can more increase substantially operating efficiency, 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 effectively be avoided by entering the method for tank operation using the explosion prevention robot work station replacement mankind simultaneously, fundamentally avoid personal ailing, family burden and medical burden.
Description
Technical field
The application is related to oil tank processing technology field, more particularly to a kind of remodeling method of oil tank.
Background technology
There are 100,000 Duo Zuo gas stations in China, altogether about 500,000 sunken tankers, and tank section is concentrated and is embedded in the beginning of the nineties, away from
Modern about 10-30.Steel individual layer oil tank service life is about 25-35, it means that large area will occurs in China
Oil tank Fu Shi Seepage leakages, 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,
Not only need to consume substantial amounts of human and material resources, time during this, and relevant law can be formed and be difficult to reconcile with reality
Actual contradiction, once excavating, related environmental protection will no longer allow with safety legislation regulation for most gas stations such as in 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
Result, according to no-dig technique transform sunken tankers technology, then more can perfectly solve this problem.
However, used oil tank operating condition in processing procedure 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, causes qualified professional extremely shortage, and this will cause
A series of problem, for example, the extension of duration, the generation that accident can be avoided originally, hidden danger of quality, practitioner's occupational disease it is potential
Injury etc..
The content of the invention
The application is intended at least solve one of above-mentioned technical problem to a certain extent.
According to the application's in a first aspect, the application provides a kind of remodeling method of oil tank, including：
The job-program mode of the presetting current explosion prevention robot that internal transformation is carried out to current oil tank, the job-program mode pair
The operating path of current explosion prevention robot described in Ying Yu；
The current explosion prevention robot is implemented under job-program mode guiding by the operating path to the oil tank
Inside transformation.
Further, when the job-program mode is corresponding with least two reforming processing processes, and the operating path includes：
When corresponding with the reforming processing process at least two main paths and transduction pathway, the current explosion prevention robot is in the work
Make under formula guiding, implement internal transformation to the oil tank by the operating path and specifically include：
The current explosion prevention robot is under job-program mode guiding, by being performed during current main path to the oil tank
Current reforming processing process；
After the current reforming processing process is completed, the current explosion prevention robot under job-program mode guiding,
It is at next transformation by current reforming processing State Transferring corresponding to current transduction pathway from the current reforming processing process
Reason state；
The current explosion prevention robot is under job-program mode guiding, by being performed during next main path to the oil tank
Next reforming processing process.
Further, the job-program mode is corresponding with part or all of in following reforming processing process：
Residual oil process is cleared up outside tank, cover plate for manhole process is opened, opens 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 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 mapping positioning process.
Further, the remodeling method of the oil tank also includes：
The current explosion prevention robot is interacted to arrange in pairs or groups by interactive module with other explosion prevention robots and/or personnel
Operation.
According to the second aspect of the application, the application also provides a kind of remodeling method of oil tank, the transformation side of the oil tank
Method is included based on a kind of explosion prevention robot for being used to transform oil tank, the explosion prevention robot：Controller, it is connected with the controller
Driving member；And the executive item being connected respectively with the driving member and the controller, the remodeling method bag of the oil tank
Include：
The job-program mode that internal transformation is carried out to current oil tank presetting to the controller, the job-program mode correspond to
The operating path of the explosion prevention robot simultaneously guides the controller to carry out corresponding control；
The driving member drives the executive item to pass through the operating path, the executive item under controller control
By implementing internal transform during the operating path to the oil tank.
Further, the driving member is assembled by fast replacing device and the executive item quick-changing type, when the job-program mode
At least two reforming processing processes are corresponding with, and the operating path includes：Corresponding with the reforming processing process at least two
When individual main path and transduction pathway, the driving member drives the executive item to pass through the working ways under controller control
Footpath, the executive item are specifically included by implementing internal transformation during the operating path to the oil tank：
The controller controls the driving member to act under job-program mode guiding, makes current executive item by working as
Current reforming processing process is performed to the oil tank during preceding main path；
After the current reforming processing process is completed, the controller is under job-program mode guiding, described in control
Driving member is acted, and the current executive item on the fast replacing device is replaced with into next executive item by current transduction pathway；
The controller controls the driving member to act, leads to next executive item under job-program mode guiding
Next reforming processing process is performed to the oil tank when crossing next main path.
Further, the explosion prevention robot includes following all or part of executive item：Clear up outside tank Residual oil component,
Open cover plate for manhole component, open cover plate for manhole rear venting except explosive volatile matter component, derusting and purge tank inner assembly, cutting tank in prop up
Support member component, polishing cut surface component, dry tank body component, pre- tensioner support tank body component, welding support body assembly, table in tank
Face spray assembly, structural member laminating component, blanks and moulding and conserving component, adjoint quality inspection component and tank body 3D mapping positioning components,
Accordingly, the job-program mode is corresponding with part or all of in following cleaning treatment process：Residual oil is cleared up outside tank
Process, open cover plate for manhole process, open cover plate for manhole rear venting except process, cutting in explosive volatile matter process, derusting and purge tank
Tank inner support member process, polishing cut surface process, dry tank body process, pre- tensioner support tank body process, welding 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 mapping positioning works
Sequence.
Further, the explosion prevention robot also includes：
The interactive module being connected with the controller, for being interacted with other explosion prevention robots and/or personnel to take
With operation,
The remodeling method of the oil tank also includes：
The current explosion prevention robot is interacted to arrange in pairs or groups by interactive module with other explosion prevention robots and/or personnel
Operation.
Further, the explosion -proof machine artificially explosion-proof multi-joint snake-shaped robot or explosion-proof climbing robot.
Further, the explosion prevention robot is assemblied in a tower structure, and the tower structure has for described explosion-proof
The movable chamber of robot movable.
Further, when affiliated robot executive item uses integrated form or hybrid design, the explosion prevention robot can
It is corresponding to omit corresponding executive item replacing path.
The beneficial effect of the application is：
By providing a kind of remodeling method of oil tank, including：It is presetting that the current anti-of internal transformation is carried out to current oil tank
The job-program mode of quick-fried robot, the job-program mode correspond to the operating path of the current explosion prevention robot；It is described current anti-
Quick-fried robot implements internal transform to the oil tank under job-program mode guiding, by the operating path.So, use
The method that explosion prevention robot work station substitutes human expertise's operation not only can be saved largely manually, more can be significantly
Operating efficiency is improved, the duration is greatly shortened, the loss from suspension of gas station is greatly reduced；Worked simultaneously using explosion prevention robot
The method that the replacement mankind that stand enter tank operation can also effectively avoid injury of the occupational disease to the mankind, fundamentally avoid personal disease
Bitterly, family burden and medical burden；Again, the method for human expertise's operation is substituted also using explosion prevention robot work station
Substantial amounts of mankind's labor insurance fees can be saved to use, country is more reasonably distributed related resource；Finally, tank body 3D numbers are passed through
According to and station acquisition, not only can know that tank body data establish complete skill archives with systematic, can also directly obtain accurate
Tank volume table and related gas station's big data are supplied to country to do related data from investigation.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the remodeling method of the oil tank of the embodiment of the present application.
Fig. 2 is one of situation schematic diagram after the explosion prevention robot of the embodiment of the present application does not enter tank or come out from oil tank.
Fig. 3 is two of the situation schematic diagram after the explosion prevention robot of the embodiment of the present application does not enter tank or come out from oil tank.
Fig. 4 is that the explosion prevention robot of the embodiment of the present application is substantially one of 1/4 situation schematic diagram when entering tank.
Fig. 5 is that the 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 explosion prevention robot of the embodiment of the present application is substantially one of 3/4 situation schematic diagram when entering tank.
Fig. 7 is that the 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 be situation schematic diagram when the explosion prevention robot of the embodiment of the present application substantially enters tank and full extension entirely it
One.
Fig. 9 be situation schematic diagram when the explosion prevention robot of the embodiment of the present application substantially enters tank and full extension entirely it
Two.
Figure 10 is one of situation schematic diagram when the explosion prevention robot of the embodiment of the present application substantially enters tank and folded entirely.
Figure 11 is two of the situation schematic diagram when explosion prevention robot of the embodiment of the present application substantially enters tank and folded entirely.
Figure 12 is the structural representation of the explosion prevention robot of the embodiment of the present application.
Embodiment
Embodiments herein is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and it is not intended that 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 ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of
Describe the application and simplify to describe, rather than indicate or imply that signified device or element must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore it is not intended that limitation to the application.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present application, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In this application, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；It can be machine
Tool connects or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this Shen as the case may be
Please in concrete meaning.
In this application, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Sign is directly 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 " fisrt feature that includes are 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 embodiment combination accompanying 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
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, or, 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 to carry out current oil tank whole processes of internal transformation etc..In order to complete the inside transformation to oil tank, explosion prevention robot
Executive item needs to be moved to the pending position of 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 is corresponding with part or all of in following reforming processing process：
Residual oil process is cleared up outside tank, cover plate for manhole process is opened, opens 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 member process, tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving process, adjoint quality inspection work
Sequence, tank body 3D mapping positioning process.
Residual oil process is cleared up outside the tank being corresponding with job-program mode in above-mentioned each reforming processing process, opens cover plate for manhole work
Sequence, cover plate for manhole rear venting is opened except explosive volatile matter process, derusting are simultaneously in purge tank when process, dry tank body process, you can complete
The cleaning of paired oil tank.And be corresponding with 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 member process of polishing, it may be necessary to which oil tank is pre-processed
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 performed
The reforming processings such as process, tank body 3D mapping positioning process.
102, current explosion prevention robot implements internal transform to oil tank under job-program mode guiding, by operating path.Tool
Body, it is necessary to pass through some reforming processing processes, these reforming processing works when explosion prevention robot is transformed inside implementing to oil tank
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, the reforming processing process as corresponding to performing 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 split design and it is external, explosion prevention robot then need by transduction pathway replace perform
Part.Explosion prevention robot executive item may be designed to split-type structural according to the actual requirements, completes executive item by fast replacing device and changes,
Integrated structure can also be designed to, executive item is changed by controllable extensible or translation-angle, can also be mixed using two ways
The design structure of conjunction.
Accordingly, as shown in figs. 2-11, the present embodiment additionally provides a kind of Oilcan cleaning/retrofit work station, including one
For cleaning or transforming the explosion prevention robot 1 of oil tank 3, and a tower structure 2, explosion prevention robot 1 is snakelike explosion prevention robot,
Snakelike explosion prevention robot 1 is assemblied in tower structure 2, and tower structure 2 has the movable chamber for the snakelike activity of explosion prevention robot 1.
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 supports 23 of the both sides of nearly oil tank 3 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 the operating path of explosion prevention robot 1；The executive item 12 being connected with controller 11；And
It is being connected with controller 11, interior for implementing when drive executive item 12 passes through operating path under the control of controller 11 to oil tank 3
Portion is cleaned or the driving member 13 of transformation.Specifically, controller 11 can use industrial PC, PLC, single-chip microcomputer or MCU etc., driving member
13 can use Multi-shaft mechanical arm, such as 5 axles, 6 axles, 8 axles, 9 shaft mechanical arms, mechanical arm lengths sum amount etc. can be according to needing to clean
Or the size of transformation oil tank 3 designs, executive item 12 can be according to cleaning or the requirement of transformation oil tank, using the portion in such as lower component
Divide or whole：Residual oil component is cleared up outside tank, manhole cap assemblies, rear venting of uncapping is opened except explosive volatile matter component, derusting and cleans
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 it can be that heating air pump or high energy are penetrated to dry tank body component
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
3D scanners of group etc..Certainly, it is necessary to which additional description, explosion prevention robot 1 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 centerized fusion or distributed AC servo system and interactive cooperation control to driving member 13 and executive item 12.
When executive item 12 is using such as part 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 part or all of in lower component, you can oil tank is carried out pre-
Processing could realize the cleaning or transformation of oil tank：Cut tank inner support member component, polishing cut surface component, pre- tensioner support tank body
Component and welding support body assembly, tank body 3D mapping positioning components.
Different types of executive item 12 can be directly integrated formula design and installation in driving member end, be set so as to form integrated form
Meter.
Accordingly, 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 are corresponding
In explosion prevention robot 1 operating path and guide controller 11 to carry out corresponding control；
Driving member 13 drives executive item 12 to pass through operating path by operating path, executive item 12 under the control of controller 11
When internal washing or transformation are implemented to oil tank 3.
So, the method for human expertise's operation being substituted using explosion prevention robot work station not only can be saved largely
Manually, operating 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 effectively be avoided by entering the method for tank operation using the explosion prevention robot work station replacement mankind, from
Fundamentally avoid personal ailing, family burden and medical burden；Again, it is special using the explosion prevention robot work station replacement mankind
The method of industry personnel's operation can also save substantial amounts of mankind's labor insurance fees and use, and country is more reasonably distributed related money
Source.
Embodiment two：
The present embodiment essentially consists 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 with least two cleanings or reforming processing process, and operating path includes：With reforming processing
When at least two main paths corresponding to process and transduction pathway, current explosion prevention robot 1 passes through work under job-program mode guiding
Internal washing is implemented in path to oil tank 3 or transformation specifically includes：
First, current explosion prevention robot 1 is current clear by being performed during current main path to oil tank under job-program mode guiding
Wash or reforming processing process；
Then, after current cleaning or reforming processing process is completed, current explosion prevention robot 1 under job-program mode guiding,
Under being by current cleaning or reforming processing State Transferring corresponding to current transduction pathway from current cleaning or reforming processing process
One cleaning or reforming processing state, specifically, explosion prevention robot needs to replace executive item by transduction pathway, hold current execution
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
Wash or reforming processing process is next cleaning or reforming processing state；
Then, current explosion prevention robot 1 is next clear by being performed during next main path to oil tank under job-program mode guiding
Wash or reforming processing process.
Accordingly, Oilcan cleaning/retrofit work station further comprises：For containing the tool seat 24 of executive item 12, instrument
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 assembling.
Accordingly, 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 with least two cleanings or reforming processing process, and operating path includes：With cleaning or changing
When making at least two main paths corresponding to treatment process and transduction pathway, driving member 13 drives executive item under the control of controller 11
12, by operating path, implement internal washing to oil tank 3 when executive item 12 passes through operating path or transformation specifically include：
Under job-program mode guiding, control driving member 13 acts controller 11, current executive item 12 is passed through current main road
Current cleaning or reforming processing process are performed during footpath to oil tank 3；
After current cleaning or reforming processing process is completed, 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 corresponding to current cleaning or reforming processing process or reforming processing State Transferring are next cleaning or reforming processing shape
State；
Under job-program mode guiding, control driving member 13 acts controller 11, next executive item 12 is passed through next main road
Next cleaning or reforming processing process are performed during footpath to oil tank 3.
When executive item 12 is integrated form or hybrid design, controller 11 under job-program mode guiding, hold by direct drive
Row part 12 is in situ to complete executive item converting process, and other aspects are the same as the explosion prevention robot for using tool seat external structure.
Embodiment three：
The present embodiment essentially consists in above-described embodiment difference：
The cleaning of the oil tank 3 of the present embodiment or remodeling method also 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
Fulfil assignment.
Accordingly, the Oilcan cleaning in the present embodiment/retrofit work station includes at least two explosion prevention robots 1 or at least 1
Individual explosion prevention robot and 1 mankind.The explosion prevention robot 1 of the present embodiment also includes：The interactive module being connected with controller 11, use
Interacted in other explosion prevention robots and/or personnel with operation of arranging in pairs or groups.
Example IV：
The present embodiment essentially consists 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 Residual oil before cleaning be present in oil tank 1, to avoid to the oil stains of explosion prevention robot 1
The infringement of matter, more reliable compared with other forms explosion prevention robot using snakelike explosion prevention robot, reason is snakelike explosion prevention robot
Operation is carried out in a manner of suspending in midair tower structure, inner wall of oil tank will not be touched 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, the situation after not entering tank for snakelike explosion prevention robot or being come out from oil tank.
As illustrated in figures 4-5, for snakelike explosion prevention robot be substantially 1/4 enter tank when situation.
As shown in fig. 6-7, for snakelike explosion prevention robot be substantially 3/4 enter tank when situation.
As Figure 8-9, situation when tank and full extension is substantially entered 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, work station is put down in tank field, preparing receiving to its POST goes into operation signal；
Second step, work station is according to manual command or the positioning of default artificial intelligence and close to alignment target oil tank；
3rd step, work station select corresponding work post executive item preparation work according to manual command or default artificial intelligence；
4th step, work station stretch the driving member with corresponding Job execution part according to manual command or default artificial intelligence
Enter and operation is carried out inside oil tank body；
5th step, work station complete default operation according to manual command or default artificial intelligence order；
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
Specific features, structure, material or the feature of description are contained at least one embodiment or example of the application.In this explanation
In book, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Sign, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Above content is to combine the further description that specific embodiment is made to the application, it is impossible to assert this Shen
Specific implementation please is confined to these explanations.For the application person of an ordinary skill in the technical field, do not taking off
On the premise of conceiving from the application, some simple deduction or replace can also be made.
Claims (5)
- A kind of 1. remodeling method of oil tank, it is characterised in that including：One explosion prevention robot for being used to cleaning or transforming oil tank, And a tower structure, the artificial snakelike explosion prevention robot of explosion -proof machine, snakelike explosion prevention robot is assemblied in tower structure, tower Structure has the movable chamber for the activity of snakelike explosion prevention robot；The explosion prevention robot includes：Controller, the driving member being connected with the controller；And respectively with the driving member And the executive item that the controller is connected；The tower structure includes：Pylon；It is assemblied on pylon, the strand for driving snakelike explosion prevention robot to be moved along movable chamber Disk, and, it is assemblied in the hydraulic supports of the nearly oil tank both sides of pylon；The job-program mode of the presetting current explosion prevention robot that internal transformation is carried out to current oil tank, the job-program mode correspond to The operating path of the current explosion prevention robot；The job-program mode is corresponding with part or all of in following reforming processing process：Residual oil process is cleared up outside tank, cover plate for manhole process is opened, opens cover plate for manhole rear venting except explosive volatile matter process, derusting and clear Process in cleaning of evaporator, cutting tank inner support member process, polishing cut surface process, dry tank body process, pre- tensioner support tank body process, Weld 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 surveys and draws positioning process；The explosion prevention robot integrates industrial vision system and implantable artificial logic, multichannel collision avoidance system and with detecting instrument reality The artificial intelligence control of existing explosion prevention robot；The current explosion prevention robot is implemented internal under job-program mode guiding, by the operating path to the oil tank Transformation.
- 2. the remodeling method of oil tank as claimed in claim 1, it is characterised in that when the job-program mode is corresponding with least two Reforming processing process, and the operating path includes：At least two main path corresponding with the reforming processing process and conversion During path, the current explosion prevention robot is implemented under job-program mode guiding by the operating path to the oil tank Inside transformation specifically includes：The current explosion prevention robot is current by being performed during current main path to the oil tank under job-program mode guiding Reforming processing process；After the current reforming processing process is completed, the current explosion prevention robot passes through under job-program mode guiding Current reforming processing State Transferring corresponding to current transduction pathway from the current reforming processing process is next reforming processing shape State；The current explosion prevention robot is next by being performed during next main path to the oil tank under job-program mode guiding Reforming processing process.
- 3. the remodeling method of oil tank as claimed in claim 1, it is characterised in that the driving member by fast replacing device with it is described Executive item quick-changing type assembles, and when the job-program mode is corresponding with least two reforming processing processes, and the operating path includes： When corresponding with the reforming processing process at least two main paths and transduction pathway, the driving member controls in the controller It is lower to drive the executive item by the operating path, the executive item by implementing during the operating path to the oil tank in Portion's transformation specifically includes：The controller controls the driving member to act, makes current executive item by currently leading under job-program mode guiding Current reforming processing process is performed to the oil tank during path；After the current reforming processing process is completed, the controller controls the transmission under job-program mode guiding Part is acted, and the current executive item on the fast replacing device is replaced with into next executive item by current transduction pathway；The controller controls the driving member to act, makes next executive item under under job-program mode guiding Next reforming processing process is performed to the oil tank during one main path.
- 4. the remodeling method of oil tank as claimed in claim 3, it is characterised in that the explosion prevention robot includes such as lower part Or whole executive item：Residual oil component is cleared up outside tank, cover plate for manhole component is opened, opens cover plate for manhole rear venting and remove explosive volatile matter group Part, derusting and purge tank inner assembly, cutting tank inner support member component, polishing cut surface component, dry tank body component, pre- tensioner branch Support tank body component, welding support body assembly, tank inner surface spray assembly, structural member laminating component, blanks and moulding and conserving component, adjoint matter Component, and tank body 3D mapping positioning components are examined,Accordingly, the job-program mode is corresponding with part or all of in following cleaning treatment process：Clear up outside tank Residual oil process, Open cover plate for manhole process, open cover plate for manhole rear venting except explosive volatile matter process, derusting and purge tank in process, cutting tank in prop up Support member process, polishing cut surface process, dry tank body process, pre- tensioner support tank body process, welding support member process, table in tank Face spraying process, structural member bonding process, blanks and moulding and conserving process, adjoint quality inspection process and tank body 3D mapping positioning process.
- 5. the remodeling method of oil tank as claimed in claim 1, it is characterised in that the explosion prevention robot also includes：The interactive module being connected with the controller, made for being interacted with other explosion prevention robots and/or personnel with arranging in pairs or groups Industry,The remodeling method of the oil tank also includes：The current explosion prevention robot passes through interactive module and other explosion prevention robots And/or personnel are interacted with operation of arranging in pairs or groups.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167759.8A CN105643630B (en) | 2016-03-22 | 2016-03-22 | The remodeling method of oil tank |
| PCT/CN2016/077517 WO2017161592A1 (en) | 2016-03-22 | 2016-03-28 | Reforming method for oil tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167759.8A CN105643630B (en) | 2016-03-22 | 2016-03-22 | The remodeling method of oil tank |
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| Publication Number | Publication Date |
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| CN105643630A CN105643630A (en) | 2016-06-08 |
| CN105643630B true CN105643630B (en) | 2018-04-10 |
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| CN201610167759.8A Active CN105643630B (en) | 2016-03-22 | 2016-03-22 | The remodeling method of oil tank |
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| WO (1) | WO2017161592A1 (en) |
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| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
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| CN105619420B (en) * | 2016-03-22 | 2018-02-02 | 深圳市百事达卓越科技股份有限公司 | For transforming explosion prevention robot and the oil tank retrofit work station of oil tank |
| CN205572437U (en) * | 2016-03-22 | 2016-09-14 | 深圳市百事达卓越科技股份有限公司 | A explosion -proof robot and oil tank transformation workstation for transforming oil tank |
| CN105642624B (en) * | 2016-03-22 | 2019-07-26 | 深圳市百事达卓越科技股份有限公司 | The cleaning method of oil tank |
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| 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 |
-
2016
- 2016-03-22 CN CN201610167759.8A patent/CN105643630B/en active Active
- 2016-03-28 WO PCT/CN2016/077517 patent/WO2017161592A1/en active Application Filing
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| WO2017161592A1 (en) | 2017-09-28 |
| CN105643630A (en) | 2016-06-08 |
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