CN105689345A - Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation - Google Patents
Anti-explosion robot used for cleaning oil tank and oil tank cleaning workstation Download PDFInfo
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- CN105689345A CN105689345A CN201610165620.XA CN201610165620A CN105689345A CN 105689345 A CN105689345 A CN 105689345A CN 201610165620 A CN201610165620 A CN 201610165620A CN 105689345 A CN105689345 A CN 105689345A
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- explosion prevention
- prevention robot
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- oil tank
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- 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
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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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses an anti-explosion robot used for cleaning an oil tank and an oil tank cleaning workstation. The anti-explosion robot comprises a controller, an executing piece and a driving piece, wherein the controller is used for presetting a working program used for cleaning the interior of an oil tank and corresponding to a working path of the anti-explosion robot; the executing piece is connected with the controller; and the driving piece is connected with the controller and used for driving the executing piece to clean the interior of the oil tank while passing the working path under the control of the controller. Therefore, the method of replacing specific human operation with the anti-explosion robot workstation can greatly save manpower, greatly improve the working efficiency, greatly shorten the duration and greatly reduce stop loss of a gas station; and meanwhile, by using the method of replacing human operation entering the tank with the anti-explosion robot workstation can effectively avoid harm of occupational disease to human, thus fundamentally avoiding personnel diseases, family burden and medical treatment burdens.
Description
Technical field
The application relates to oil tank processing technology field, particularly relates to a kind of explosion prevention robot for cleaning the storage and tank cleaning work station。
Background technology
In state-owned 100,000 Duo Zuo gas stations, altogether about 500,000 sunken tankers, tank section is concentrated and is embedded in the beginning of the nineties, from the present existing about 10-30。Steel monolayer oil tank is approximately 25-35 service life, this means China it would appear that large-area Tank corrosion leaks, polluted underground water and soil, therefore State Council requires to complete the antiseepage transformation of gas station's oil tank before 2017, but transform oil tank according to the method for existing hand excavation, estimate to need for complete this huge engineering 10 times several years, not only need during this to consume substantial amounts of manpower, material resources, time, and the actual contradiction that relevant law and reality are difficult to be in harmonious proportion can be formed, overwhelming majority gas station in such as city is once excavate, relevant environmental protection and safety legislation regulation will no longer allow oil tank and again bury, so just mean to be substantially not present gas station after in city, this is clearly the result of a very awkward absurdity, the technology of sunken tankers is transformed according to no-dig technique, then can perfectly solve this problem。
But, used oil tank operating condition in scale removal process is extremely severe dangerous, have enough knowledge competent be unwilling do this work, and lack knowledge be difficult to be competent at, cause that the qualified professional mankind extremely lack, and this will cause a series of problem, for instance the prolongation of duration, originally can avoid the potential injury etc. of the generation of accident, hidden danger of quality, practitioner's occupation disease。
Summary of the invention
The application is intended to solve at least to a certain extent one of above-mentioned technical problem。
First aspect according to the application, the application provides a kind of explosion prevention robot for cleaning the storage, including:
For presetting internal washing the controller to the job-program mode that should have explosion prevention robot operating path that current oil tank carried out；
The executive item being connected with described controller；And,
That be connected with described controller, for described controller control under drive described executive item by described operating path time to described oil tank implement internal washing driving member。
Further, described driving member is assembled with described executive item quick-changing type by quick chuck, and/or, different types of described executive item is directly integrated formula design and installation at driving member end。
Further, described explosion prevention robot includes following all or part of executive item:
Clear up Residual oil assembly outside tank, open cover plate for manhole assembly, rear venting of uncapping surveys and draws positioning component except explosive volatile matter assembly, rust cleaning purge tank inner assembly, dry tank body assembly, cutting tank inner support member assembly, polishing facet assembly, pre-tensioner support tank body assembly, welding support body assembly and tank body 3D。
Further, described explosion prevention robot also includes:
That be connected with described controller, for interacting to arrange in pairs or groups the mutual module of operation with other explosion prevention robots and/or the mankind。
Further, the artificial snakelike explosion prevention robot of described explosion-proof machine or explosion prevention robot of creeping。
Second aspect according to the application, the application provides a kind of tank cleaning work station, including the explosion prevention robot for cleaning the storage described above, and a tower structure, the artificial snakelike explosion prevention robot of described explosion-proof machine, described snakelike explosion prevention robot is assemblied in described tower structure, and described tower structure has the movable chamber movable for described snakelike explosion prevention robot。
Further, described tank cleaning work station includes: be used for the explosion prevention robot cleaned the storage described at least two。
Further, described tower structure includes:
Pylon；And,
Be assemblied on described pylon, capstan winch for driving described snakelike explosion prevention robot to move along described movable chamber。
Further, described tower structure also includes:
It is assemblied in the hydraulic pressure support seat of the near described oil tank both sides of described pylon。
Further, described tank cleaning work station also includes:
For containing the tool seat of described executive item。
The application provides the benefit that:
By providing a kind of explosion prevention robot for cleaning the storage and tank cleaning work station, explosion prevention robot includes: for presetting internal washing the controller to the job-program mode that should have explosion prevention robot operating path that current oil tank carried out；The executive item being connected with described controller；And, that be connected with described controller, for described controller control under drive described executive item by described operating path time to described oil tank implement internal washing driving member。So, use explosion-proof machine workstation substitute the method for mankind's professional mankind's operation not only can substantial amounts of saving artificial, more can increase substantially work efficiency, duration is greatly shortened, the loss from suspension of gas station is greatly reduced；Use the method that the explosion-proof machine workstation replacement mankind enter tank operation can also be prevented effectively from the occupation disease injury to the mankind simultaneously, fundamentally avoid individual's slight illness, family burden and medical treatment burden；Again, use the method that explosion-proof machine workstation substitutes mankind's professional mankind's operation can also save substantial amounts of mankind's labor insurance fees use, make country can more reasonably distribute related resource；Finally, by tank body 3D data and station acquisition, not only systematic can know that tank body data set up complete skill archives, it is also possible to directly obtain the big data of accurate tank volume table and relevant gas station and be supplied to country and do relevant data from investigation。
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the remodeling method of the oil tank of the embodiment of the present application。
Fig. 2 be the snakelike explosion prevention robot of the embodiment of the present application do not enter tank or from oil tank out after one of situation schematic diagram。
Fig. 3 be the snakelike explosion prevention robot of the embodiment of the present application do not enter tank or from oil tank out after situation schematic diagram two。
Fig. 4 is that the snakelike 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 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 one of 3/4 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 is one of the snakelike explosion prevention robot of the embodiment of the present application situation schematic diagram of being substantially when entirely entering tank and full extension。
The snakelike explosion prevention robot that Fig. 9 is the embodiment of the present application is substantially two of situation schematic diagram when entirely entering tank and full extension。
Figure 10 is one of the snakelike explosion prevention robot of the embodiment of the present application situation schematic diagram of being substantially when entirely entering tank and be folding。
The snakelike explosion prevention robot that Figure 11 is the embodiment of the present application is substantially two of situation schematic diagram when entirely entering tank and be folding。
Figure 12 is the structural representation of the explosion prevention robot of the embodiment of the present application。
Detailed description of the invention
Being described below in detail embodiments herein, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish。The embodiment described below with reference to accompanying drawing is illustrative of, it is intended to be used for explaining the application, and it is not intended that restriction to the application。
In the description of the present application, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, it is for only for ease of description the application and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that restriction to the application。
Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic。Thus, define " first ", the feature of " second " can express or implicitly include one or more these features。In the description of the present application, " multiple " are meant that two or more, unless otherwise expressly limited specifically。
In this application, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals。For the ordinary skill mankind of this area, it is possible to understand above-mentioned term concrete meaning in this application as the case may be。
In this application, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or D score can include the first and second features and directly contact, it is also possible to include the first and second features and be not directly contact but by the other characterisation contact between them。And, fisrt feature second feature " on ", " top " and " above " include fisrt feature directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature。Fisrt feature second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of fisrt feature level height less than second feature。
The application is described in further detail in conjunction with accompanying drawing below by detailed description of the invention。
Embodiment one:
Present embodiments provide the remodeling method of a kind of oil tank, realize not excavation type transformation mainly for sunken tankers, and the remodeling method of this oil tank contains the cleaning method of oil tank。
The remodeling method of above-mentioned oil tank includes flow process as shown in Figure 1:
101, the job-program mode of the presetting current explosion prevention robot that current oil tank is carried out internal transformation, job-program mode is corresponding to the operating path of current explosion prevention robot, concrete, explosion prevention robot performs corresponding action based on the job-program mode in its controller, such as, the completely active whole operations completing current oil tank carries out internal transformation, or, complete current oil tank is carried out whole operations of internal transformation with the mutual semi-active type of personnel, or complete current oil tank is carried out whole operations etc. of internal transformation with the mutual active form of other explosion prevention robots。Transform to complete the inside to oil tank, the executive item of explosion prevention robot needs to move to the pending position of oil tank, therefore, the job-program mode operating path to there being explosion prevention robot, when the executive item of explosion prevention robot moves to the pending position of oil tank according to operating path, can process in this pending position；
It is part or all of that job-program mode correspondence has in following reforming processing operation:
Clear up Residual oil operation outside tank, open cover plate for manhole operation, open cover plate for manhole rear venting except in explosive volatile matter operation, rust cleaning purge tank, operation, cutting tank inner support member operation, polishing facet operation, dry tank body operation, pre-tensioner support tank body operation, welding support member operation, tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving operation, survey and draw positioning process with quality inspection operation, tank body 3D。
When in job-program mode to the tank should having in above-mentioned each reforming processing operation outside cleaning Residual oil operation, open cover plate for manhole operation, open cover plate for manhole rear venting except explosive volatile matter operation, rust cleaning purge tank in operation, dry tank body operation time, the cleaning to oil tank can be completed。And when the cutting tank inner support member operation should having in above-mentioned each reforming processing operation, polishing facet operation, pre-tensioner are supported tank body operation and welding support member operation by job-program mode, it is likely to need that oil tank is carried out pretreatment and could perform above-mentioned operation, or follow-up tank inner surface spraying process, structural member bonding process, blanks and moulding and conserving operation, adjoint quality inspection operation, tank body 3D survey and draw the reforming processing such as positioning process。
102, oil tank, under job-program mode guides, is implemented inside by operating path and is transformed by current explosion prevention robot。Concrete, explosion prevention robot is when implementing internal transformation to oil tank, require over some reforming processing operations, these reforming processing operations can be defined by job-program mode, and generally, for different reforming processing operations, the executive item of explosion prevention robot differs, a certain type executive item perform corresponding reforming processing operation。When executive item replaced by needs, relating at least two situation, one, when explosion prevention robot carries integrated form or semi-integrated type executive module, explosion prevention robot directly completes executive item conversion in current stop place；Its two, tool seat split design is also external, and explosion prevention robot then requires over transduction pathway and replaces executive item。Explosion prevention robot executive item may be designed to split-type structural according to the actual requirements, complete executive item by fast replacing device to change, integrated structure can also be designed to, change executive item by controllable extensible or translation-angle, it would however also be possible to employ the design structure of two ways mixing。
Accordingly, as shown in figs. 2-11, the present embodiment additionally provides a kind of tank cleaning/retrofit work station, including one for cleaning or transform the explosion prevention robot 1 of oil tank 3, and a tower structure 2, explosion prevention robot 1 is snakelike explosion prevention robot, and snakelike explosion prevention robot 1 is assemblied in tower structure 2, and tower structure 2 has the movable chamber for the activity of snakelike explosion prevention robot 1。
Wherein, described tower structure 2 includes: pylon 21；Be assemblied on pylon 21, capstan winch 22 for driving snakelike explosion prevention robot 1 to move along movable chamber, and, be assemblied in the hydraulic pressure support seat 23 of nearly oil tank 3 both sides of pylon 21。
As shown in figure 12, explosion prevention robot 1 includes: for presetting internal washing or transformation the controller 11 to the job-program mode that should have explosion prevention robot 1 operating path that current oil tank 3 carried out；The executive item 12 being connected with controller 11；And, that be connected with controller 11, for driving executive item 12 by operating path under controlling at controller 11 time oil tank 3 implemented the driving member 13 of internal washing or transformation。Concrete, controller 11 can adopt industrial PC, PLC, single-chip microcomputer or MCU etc., driving member 13 can adopt Multi-shaft mechanical arm, for instance 5 axles, 6 axles, 8 axles, 9 shaft mechanical arms, mechanical arm length and quantity etc. can according to needing to clean or the size of transformation oil tank 3 design, and executive item 12 can according to cleaning or the requirement of transformation oil tank, and what adopt in following assembly is part or all of: clear up Residual oil assembly outside tank, open manhole cover assembly, rear venting of uncapping removes explosive volatile matter assembly, rust cleaning purge tank inner assembly, dry tank body assembly, tank inner surface spray assembly, covering laminating component, blanks and moulding and conserving assembly, quality inspection assembly, cutting tank inner support member assembly, polishing facet assembly, pre-tensioner supports tank body assembly, welding support body assembly, tank body 3D surveys and draws positioning component, concrete, clear up Residual oil assembly and rust cleaning outside tank and purge tank inner assembly can be explosion-proof type high-voltage hydraulic giant and explosion-proof type pulsating pump, opening manhole cover assembly can be the gripper with the explosion-proof pneumatically or electrically wrench of self adaptation, opening cover plate for manhole rear venting can for blowing device or extractor fan except explosive volatile matter assembly, dry tank body assembly can be heating air pump or high energy shot-light, tank inner surface spray assembly can be blackwash sprayer or cylinder, structural member laminating component can be self adaptation pressing device, cutting tank inner support member assembly is water cutter, and polishing facet assembly can be wet type angle grinding machine, it is the 3D scanner etc. with GPS module that tank body 3D surveys and draws positioning component。Certainly, it is necessary to additional description, explosion prevention robot 1 integrated industrial vision system and implantable artificial logic, multichannel collision avoidance system and adjoint detecting instrument etc. can realize the artificial intelligence control of explosion prevention robot 1 when realizing simultaneously。Driving member 13 and executive item 12 can be carried out centerized fusion or distributed AC servo system by controller 11 and interactive cooperation controls。
When executive item 12 adopt in following assembly part or all of time, the explosion prevention robot for cleaning the storage can be formed: clear up Residual oil assembly outside tank, open manhole cover assembly, rear venting of uncapping is except explosive volatile matter assembly, rust cleaning purge tank inner assembly and dry tank body assembly。And when executive item 12 adopt have in following assembly part or all of time, oil tank can be carried out pretreatment and could realize cleaning or the transformation of oil tank: cutting tank inner support member assembly, polishing facet assembly, pre-tensioner support tank body assembly and welding support body assembly, tank body 3D surveys and draws positioning component。
Different types of executive item 12 can be directly integrated formula design and installation at driving member end, thus forming integrated form design。
Accordingly, when adopting above-mentioned tank cleaning/retrofit work station, cleaning or the remodeling method of oil tank 3 specifically include:
To the presetting job-program mode that current oil tank 3 carries out internal washing or transformation of controller 11, job-program mode corresponds to the operating path of explosion prevention robot 1 and guides controller 11 to carry out corresponding control；
Driving member 13 drives executive item 12 by operating path under controller 11 controls, and oil tank 3 is implemented when executive item 12 is by operating path internal washing or transformation。
So, use explosion-proof machine workstation substitute the method for human expertise's operation not only can substantial amounts of saving artificial, more can increase substantially work efficiency, duration is greatly shortened, the loss from suspension of gas station is greatly reduced；Use the method that the explosion-proof machine workstation replacement mankind enter tank operation can also be prevented effectively from the occupation disease injury to the mankind simultaneously, fundamentally avoid individual's slight illness, family burden and medical treatment burden；Again, use the method that explosion-proof machine workstation substitutes human expertise's operation can also save substantial amounts of mankind's labor insurance fees use, make country can more reasonably distribute related resource。
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, when tool seat is external:
When job-program mode is at least two should be had to clean or reforming processing operation, and operating path includes: when at least two main path corresponding with reforming processing operation and transduction pathway, oil tank 3, under job-program mode guides, is implemented internal washing by operating path or transformation is specifically included by current explosion prevention robot 1:
First, oil tank, under job-program mode guides, is performed current cleaning or reforming processing operation by current explosion prevention robot 1 during by current main path；
Then, complete current cleaning or after reforming processing operation, current explosion prevention robot 1 is under job-program mode guides, cleaned or reforming processing operation is corresponding current cleans or reforming processing State Transferring is next cleaning or reforming processing state from current by current transduction pathway, concrete, explosion prevention robot requires over transduction pathway and replaces executive item, hold current executive item to carry out currently cleaning or reforming processing operation is cleaned or reforming processing state for current, hold next executive item and carry out next and clean or reforming processing operation is next cleaning or reforming processing state；
Then, oil tank, under job-program mode guides, is performed next and cleans or reforming processing operation by current explosion prevention robot 1 during by next main path。
Accordingly, tank cleaning/retrofit work station farther includes: for containing the tool seat 24 of executive item 12, tool seat 24 is external relative to explosion prevention robot 1。And in explosion prevention robot 1, driving member 13 is by fast replacing device 14 and the assembling of executive item 12 quick-changing type。
Accordingly, when adopting above-mentioned tank cleaning/retrofit work station, cleaning or the remodeling method of oil tank 3 specifically include:
When job-program mode is at least two should be had to clean or reforming processing operation, and operating path includes: when at least two main path corresponding with cleaning or reforming processing operation and transduction pathway, driving member 13 drives executive item 12 by operating path under controller 11 controls, and when executive item 12 is by operating path, oil tank 3 is implemented internal washing or transformation specifically includes:
Controller 11, under job-program mode guides, controls driving member 13 action, and oil tank 3 performs when making current executive item 12 by current main path current cleaning or reforming processing operation；
Complete current cleaning or after reforming processing operation, controller 11 is under job-program mode guides, control driving member 13 action, by current transduction pathway, the current executive item 12 on fast replacing device 14 is replaced with next executive item 12, clean or reforming processing state for next with current cleaning or the reforming processing State Transferring completed from currently cleaning or reforming processing operation is corresponding；
Controller 11, under job-program mode guides, controls driving member 13 action, oil tank 3 performs when making next executive item 12 by next main path next and cleans or reforming processing operation。
When executive item 12 is integrated form or hybrid design, controller 11, under job-program mode guides, directly drives executive item 12 original position to complete executive item converting process, and other aspects are with the explosion prevention robot adopting tool seat external structure。
Embodiment three:
The present embodiment essentially consists in above-described embodiment difference:
Cleaning or the remodeling method of the oil tank 3 of the present embodiment also include:
Current explosion prevention robot 3 interacts, with other explosion prevention robot and/or personnel, operation of arranging in pairs or groups by interactive module。Concrete, explosion prevention robot 3 can be arranged in pairs or groups flexibly according to the explosion prevention robot of practical situation with the mankind or another one work station and be fulfiled assignment。
Accordingly, the tank cleaning in the present embodiment/retrofit work station includes at least two explosion prevention robot 1 or at least 1 explosion prevention robot and 1 mankind。The explosion prevention robot 1 of the present embodiment also includes: the mutual module being connected with controller 11, for interacting, with other explosion prevention robots and/or personnel, operation of arranging in pairs or groups。
Embodiment four:
The present embodiment essentially consists in above-described embodiment difference:
In the present embodiment, explosion prevention robot 1 adopts explosion prevention robot of creeping。
It should be noted that, owing to there is Residual oil in oil tank 1 before cleaning, for avoiding the infringement of the greasy dirt character to explosion prevention robot 1, adopt snakelike explosion prevention robot more reliable compared with other form explosion prevention robots, reason is, snakelike explosion prevention robot carries out operation by tower structure in the way of suspention, will not touch inner wall of oil tank so that explosion prevention robot ensure that cleaning。
Tank cleaning/retrofit work the station in each embodiment of the application, explosion prevention robot and corresponding tank cleaning or remodeling method is illustrated referring to Fig. 2-11。
As Figure 2-3, for snakelike explosion prevention robot do not enter tank or from oil tank out after situation。
As illustrated in figures 4-5, for snakelike explosion prevention robot be substantially 1/4 enter tank time situation。
As shown in fig. 6-7, for snakelike explosion prevention robot be substantially 3/4 enter tank time situation。
As Figure 8-9, it is substantially situation when entirely entering tank and full extension for snakelike explosion prevention robot。
As shown in figs. 10-11, it is substantially situation when entirely entering tank and be folding for snakelike explosion prevention robot。
The applicating example of above-mentioned tank cleaning/retrofit work station, explosion prevention robot and corresponding tank cleaning or remodeling method is as follows:
The first step, puts down work station in tank field, prepares acceptance to its POST and goes into operation signal；
Second step, work station positions and close to quasi goal oil tank according to manual command or default artificial intelligence；
3rd step, work station selects corresponding work post executive item preparation work according to manual command or default artificial intelligence；
4th step, the driving member with corresponding Job execution part is stretched into according to manual command or default artificial intelligence and carries out operation inside oil tank body by work station；
5th step, work station completes to preset operation according to manual command or default artificial intelligence order；
6th step, work station automatically retracts after fulfiling assignment according to manual command or default artificial intelligence and returns the transitions to be recycled such as original unopened starting position。
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the application。In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example。And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example。
Above content is further description the application made in conjunction with specific embodiment, it is impossible to assert the application be embodied as be confined to these explanations。For the ordinary skill mankind of the application art, under the premise conceived without departing from the application, it is also possible to make some simple deduction or replace。
Claims (9)
1. the explosion prevention robot for cleaning the storage, it is characterised in that including:
For presetting internal washing the controller to the job-program mode that should have explosion prevention robot operating path that current oil tank carried out；
The executive item being connected with described controller；And,
That be connected with described controller, for described controller control under drive described executive item by described operating path time to described oil tank implement internal washing driving member。
2. the explosion prevention robot for cleaning the storage as claimed in claim 1, it is characterised in that described driving member is assembled with described executive item quick-changing type by quick chuck, and/or, different types of described executive item is directly integrated formula design and installation at driving member end。
3. the explosion prevention robot for cleaning the storage as described in claim 2,3, it is characterised in that described explosion prevention robot includes the executive item of the design of following all or part of employing integrated form or split-type design or hybrid design:
Clear up Residual oil assembly outside tank, open cover plate for manhole assembly, rear venting of uncapping surveys and draws positioning component except explosive volatile matter assembly, rust cleaning purge tank inner assembly, dry tank body assembly and tank body 3D。
4. the explosion prevention robot for cleaning the storage as claimed in claim 4, it is characterised in that described explosion prevention robot also includes:
That be connected with described controller, for interacting to arrange in pairs or groups the mutual module of operation with other explosion prevention robots and/or the mankind。
5. the explosion prevention robot for cleaning the storage as according to any one of claim 1-4, it is characterised in that the artificial snakelike explosion prevention robot of described explosion-proof machine or explosion prevention robot of creeping。
6. a tank cleaning work station, it is characterized in that, including the explosion prevention robot for cleaning the storage as claimed in claim 5, and a tower structure, the artificial snakelike explosion prevention robot of described explosion-proof machine, described snakelike explosion prevention robot is assemblied in described tower structure, and described tower structure has the movable chamber movable for described snakelike explosion prevention robot。
7. explosion prevention robot tank cleaning work station as claimed in claim 7, it is characterised in that described tower structure includes:
Pylon；And,
Be assemblied on described pylon, capstan winch for driving described snakelike explosion prevention robot to move along described movable chamber。
8. tank cleaning work station as claimed in claim 8, it is characterised in that described tower structure also includes:
It is assemblied in the hydraulic pressure support seat of the near described oil tank both sides of described pylon。
9. tank cleaning work station as claimed in claim 6, it is characterised in that described tank cleaning work station also includes:
For containing the tool seat of described executive item。
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| 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 | Priority date | Publication date | Assignee | Title |
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| WO2017161592A1 (en) * | 2016-03-22 | 2017-09-28 | 深圳市百事达卓越科技股份有限公司 | Reforming method for oil tank |
| CN109013588A (en) * | 2018-07-10 | 2018-12-18 | 北京石油化工学院 | A kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground |
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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 |
| US20140156071A1 (en) * | 2009-05-15 | 2014-06-05 | Samsung Electronics Co., Ltd. | Mobile robot system and method of controlling the same |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017161592A1 (en) * | 2016-03-22 | 2017-09-28 | 深圳市百事达卓越科技股份有限公司 | Reforming method for oil tank |
| CN109013588A (en) * | 2018-07-10 | 2018-12-18 | 北京石油化工学院 | A kind of explosion-proof localization method for vertical cleaning oil tank robot on the ground |
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