EP3897998B1 - Programmierbare tankreinigungsdüse - Google Patents

Programmierbare tankreinigungsdüse Download PDF

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Publication number
EP3897998B1
EP3897998B1 EP19903056.0A EP19903056A EP3897998B1 EP 3897998 B1 EP3897998 B1 EP 3897998B1 EP 19903056 A EP19903056 A EP 19903056A EP 3897998 B1 EP3897998 B1 EP 3897998B1
Authority
EP
European Patent Office
Prior art keywords
approximately
hydraulic
gear
pressure
nozzle assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19903056.0A
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English (en)
French (fr)
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EP3897998A4 (de
EP3897998A1 (de
Inventor
Alexander G. Innes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agi Engineering Inc
Original Assignee
Agi Engineering Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/437,796 external-priority patent/US11311920B2/en
Application filed by Agi Engineering Inc filed Critical Agi Engineering Inc
Publication of EP3897998A1 publication Critical patent/EP3897998A1/de
Publication of EP3897998A4 publication Critical patent/EP3897998A4/de
Application granted granted Critical
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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
    • B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
    • B08B9/0933—Removing sludge or the like from tank bottoms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B05B3/04—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet
    • B05B3/0409—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet with moving, e.g. rotating, outlet elements
    • B05B3/0418—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet with moving, e.g. rotating, outlet elements comprising a liquid driven rotor, e.g. a turbine
    • B05B3/0422—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet with moving, e.g. rotating, outlet elements comprising a liquid driven rotor, e.g. a turbine with rotating outlet elements
    • B05B3/0445—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet with moving, e.g. rotating, outlet elements comprising a liquid driven rotor, e.g. a turbine with rotating outlet elements the movement of the outlet elements being a combination of two movements, one being rotational
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
    • B05B3/02—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements
    • B05B3/04—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet
    • B05B3/049—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with rotating elements driven by the liquid or other fluent material discharged, e.g. the liquid actuating a motor before passing to the outlet comprising mechanical means for preventing a rotor from rotating despite being submerged in a streaming fluid
    • 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
    • B08B9/0804—Cleaning containers having tubular shape, e.g. casks, barrels, drums
    • B08B9/0813—Cleaning containers having tubular shape, e.g. casks, barrels, drums by the force of jets or sprays
    • 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
    • B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
    • B08B9/0936—Cleaning containers, e.g. tanks by the force of jets or sprays using rotating jets

Definitions

  • This invention relates to breaking up oil and tar, or any other chemical, radioactive, or hazardous liquid, solid, or sludge waste from inside oil field tanks, ballast tanks, void tanks, floating roof tanks, rail tank cars and the like, and more specifically, this invention relates to manual, automated, or semi-automated, tank cleaning systems, devices, and methods for breaking up oil and tar, or any other chemical, radioactive or hazardous liquid, solid, or sludge waste from inside storage oil field tanks, ballast tanks, void tanks, floating roof tanks, rail tank cars and the like with nozzles which utilize fluid jets to break up, liquefy, and motivate tank material.
  • the invention can work with tanks having high temperature or low temperature conditions and tanks having hazardous vapors, dusts, or the like.
  • Tanks used for waste storage can be cleaned using handheld water nozzles. This is slow, tedious, and inefficient with potential danger. Personnel working in these environments would be exposed to hazardous and potentially flammable fluids, dusts and vapors in addition to strenuous conditions due to the requirement for the use of protective gear. Also, this work mostly performed in confined spaces that require scaffolding or lifts, make it cumbersome to use the requisite handheld blast equipment. Handheld blast nozzles produce high velocities and high thrust forces that an operator must counteract. This leads to fatigue and injury.
  • WO 2012/150541 teaches a device for movement and action in an explosive environment.
  • the device has a control center (4) out of the explosive area and a movable vehicle (1) carrying a gripping attachment and/or a sampling attachment and/or at least one suction hose (6) and/or an outlet hose placed on a movable arm (2) of the vehicle (1).
  • the vehicle (1) is driven hydraulically; high pressure supply unit (17) is located out of an explosive area and is connected to the vehicle (1) by a flexible hose (7).
  • Vehicle (1) is controlled from a control center (4). Hydraulic engines (11) of the vehicle (1) are controlled by distribution boxes (12) of the vehicle (1) whereas the distribution boxes (12) have gas or hydraulic control.
  • Used operating gas is inert and is led from the control center (4) to its vehicle (1) by a flexible hose (7).
  • Mechanically moving parts of driving gear box (13) with speeds higher than 0,9 m/s are placed in an oil filling overpressure of inert gas (15).
  • US 2008/142042 discloses a tank cleaning system that allows for a cleaning process to be monitored and provides a cleaning validation.
  • the tank cleaning system provides control and monitoring of the spray head mechanism while maintaining the mechanical simplicity and robust nature associated with known systems.
  • the tank cleaning system automatically accounts for one or more characteristics of the vessel being cleaned and modifies the cleaning operation accordingly.
  • This application seeks to provide a semi-automated or automated solution that solves the above challenges and reduces overall cycle times.
  • a primary objective of the present invention is to provide manual, automated, or semi-automated devices, systems and methods incorporating nozzles which utilize fluid jets to break up and liquefy tank material such as oil and tar, or any other chemical, radioactive, or hazardous liquid, solid, or sludge waste material in oil field tanks, ballast tanks, void tanks, floating roof tanks, and rail tank cars.
  • tank material such as oil and tar, or any other chemical, radioactive, or hazardous liquid, solid, or sludge waste material in oil field tanks, ballast tanks, void tanks, floating roof tanks, and rail tank cars.
  • a secondary objective of the present invention is to provide manual, automated, or semi-automated devices, systems and methods incorporating nozzles which utilize fluid jets to break up and liquefy tank material will operate in any tanks containing hazardous vapors, dusts, and the like.
  • An embodiment of the nozzle assembly can include a single low pressure, high flow fluid jet operating at pressures up to, but not limited to, approximately 3450 kPa (approximately 5000 psig) at a flow rate ranging from approximately 0.63 to 31.5 l/s (approximately 10 to approximately 500 GPM).
  • a high pressure, low flow jet working up to, but not limited to, a pressure range from approximately 3450 kPa to approximately 345000 kPa (approximately 5,000 psig to approximately 50,000 psig), at a flow rate range from 0 to approximately 3.15 l/s (approximately 50 GPM) can be integrated.
  • a plurality of high flow, low pressure and high pressure, low flow fluid jets can be incorporated in various combinations and orientations.
  • the fluid jet(s) can be twisted and rotated to direct the liquid stream as needed with two degrees of freedom, pan and tilt.
  • the first degree of freedom, known as pan can be described by approximately 360 degrees of rotation about a longitudinal, vertical axis.
  • the second degree of freedom can be described by approximately 360 degrees of rotation of the fluid jet(s) about a plane parallel the longitudinal, vertical axis.
  • the versatile mounting features of the nozzle assembly allow it to be attached to the distal end of any boom, robotic arm, beam, or gantry system.
  • a hydraulic power unit provides pressurized fluid to electronically controlled valves which in turn modulates fluid flow to the actuators.
  • the valves can be, but not limited to, servo valves or servo-proportional valves and are mounted on a manifold.
  • the HPU can include, but not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir. Supply and return hoses connect between the hydraulic power unit and the hydraulic manifold.
  • the hydraulic manifold can be, but not limited to, a block of steel or stainless steel machined with varying passageways to distribute hydraulic fluid to a plurality of valves mounted along the surfaces of the block.
  • a control panel enclosure houses a motion controller that sends and receives inputs and outputs (I/O) in order to control the above valves.
  • the hydraulic valve manifold and control station will reside as near the tank but out of any classified hazardous or explosive area.
  • the hydraulic valve manifold and control station can be equipped with explosion proof or intrinsically safe components allowing operation in a classified hazardous zone where flammable gases or dust may exist.
  • the invention can be operated from a remote console station up to approximately 300 m (approximately 1000 feet) away.
  • control components can reside in a purged and pressurized enclosure rated for the hazardous environment.
  • the control station can include, but not limited to, a human machine interface (HMI) housed in an enclosure rated for outdoor operation.
  • HMI human machine interface
  • the HMI can include, but is not limited to, software, display screen, keyboard, pushbuttons, switches, and joysticks used to control and interact with the nozzle assembly.
  • the HMI will allow an operator to monitor and manipulate the process real-time.
  • the Programmable Tank Cleaning Nozzle is processing one section, an operator can sit at the HMI and develop the toolpath for the next process. Manual manipulation can be done remotely at the human machine interface (HMI) in conjunction with cameras and pointers. In a further embodiment, the nozzle assembly can be manipulated by an operator through controls on a handheld remote control.
  • HMI human machine interface
  • the device can use hydraulic power to manipulate nozzle assembly providing safe operation in environments with flammable vapors or dusts.
  • Another embodiment of the device can use explosion proof linear actuator and/or electric motors to manipulate the nozzle assembly. The motors and actuators would be connected to power and signal cables coming from the device within the tank section being cleaned to an electrical motion controller and power supply residing in the control station located outside the classified hazardous area.
  • Automatic manipulation can be achieved through predetermined motion profiles that are calculated through software using kinematic algorithms. These profiles are interpolated around selected features, surface profiles or areas in the tank. Using cameras, pointers, distance sensors, and a remote controller, the nozzle assembly can be positioned at specific points relative to the work. By establishing multiple points around a feature or set of features, a list of coordinates can be generated. This gives the invention intelligence by storing these features as recipes and patterns that allow for efficient removal and cleaning of the tanks and removal of debris.
  • the remote controller can include but is not limited to, a handheld box containing the appropriate buttons, switches, and joysticks to control the nozzle from any location.
  • the camera can be integrated into the nozzle assembly and can include, but not limited to, industrial grade monochromatic camera with lighting capable of transmitting a high resolution, live image to a remote screen. In further embodiments, the camera and/or lighting cab be intrinsically safe or explosion proof. Features of the camera can include pan, tilt, and zoom.
  • the laser pointer can be, but not limited to, a device mounted to nozzle assembly capable of projecting a visible dot on a surface of a tank indicating the line of sight of the end effector.
  • the distance sensor can include, but is not limited to, ultrasound radiofrequency or laser such as a time-of-flight laser sensor that transmits light at a surface.
  • the sensor can then determine the amount of time it takes (time-of-flight) to receive the light reflected off said surface. Using the known speed of light, the sensor can calculate the relative distance.
  • Dedicated software can draw lines or curves from point to point in such a way to form basic geometries such as squares, rectangles, circles, and so forth. These lines provide a map to be used as path, i.e. toolpaths that the nozzle assembly can follow as programmed.
  • a controller takes this data and outputs the command signals to corresponding servo valves or servo-proportional valves; therefore, synchronizing the multiple axes and effectively moving the nozzle assembly along the desired path.
  • the controller will also sequence events as needed.
  • Servo valves can be, but not limited to, a valve that uses analog electrical signals ranging from, but not limited to, 0 to approximately 100 milliamps to modulate a spool to precisely control hydraulic fluid flow to a hydraulic cylinder or motor.
  • a servo-proportional valve can be, but not limited to, a valve that operates on the same principal as a servo valve but is constructed with looser tolerances and operates with less precision.
  • Servo-proportional valves can also operate on analog electrical signals ranging from, but not limited to, 0 to approximately 100 milliamps as well as voltage signals ranging from, but not limited to, +/- approximately 40 VDC.
  • FIG. 1 is a perspective view of a programmable tank cleaning nozzle system according to a preferred embodiment of the invention.
  • the system can be comprised of a nozzle assembly 1, hydraulic power unit (HPU) 2, hydraulic manifold 3, and control station 4.
  • HPU hydraulic power unit
  • FIG. 2 shows the top level system architecture where the nozzle assembly 1 can be mounted in an area with hazardous dust and vapors where the HPU 2, hydraulic manifold 3 and control station 4 can be located adjacent the classified area, but outside any classified, hazardous area.
  • a remote control station 5 can be mounted up to approximately 300 m (approximately 1000 feet) away.
  • the present invention can be connected to the hydraulic power unit 2 that is comprised of, but is not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir.
  • Supply and return hoses connect between the hydraulic power unit and the hydraulic manifold.
  • Flexible cables can provide electrical and control signals between the control station 4, HPU 2, and hydraulic manifold 3.
  • interconnect wiring can allow communication and/or discreet I/O between the Programmable Tank Cleaning Nozzle and any fluid supply system.
  • Communication could include, but not limited to, Ethernet ® , Profibus ® , DeviceNet ® , or any other network protocol or fieldbus communication protocol.
  • fiber optic cables/wires can be used for use in hazardous explosive environments.
  • FIG. 3 shows a preferred control layout where 2 axes with closed loop control from a hydraulic controller receives commands from the control station 4 to drive either a servo valve or proportional servo valve corresponding with each axis.
  • the controller can output to one or more axes for control of a single nozzle assembly with one or more degrees of freedom.
  • the controls can output to one or more nozzle assemblies with one or more degrees of freedom.
  • the HPU 2 provides a constant supply of hydraulic oil to valves on a manifold that in turn modulates the flow to corresponding hydraulic motors (and/or actuators, out of the scope of the claims) based on encoder feedback and toolpaths developed by software at the control station.
  • Encoder feedback can be, but not limited to, absolute or incremental positional data sent to the motion controller through a serial interface for closed loop control of the hydraulic actuators.
  • the preferred embodiment incorporates fiber optic encoders.
  • the encoders can be wired to isolation barriers for intrinsically safe operation.
  • the encoders can be any non-rated absolute or incremental encoder that is wired per methods according to the application and applicable codes.
  • resolvers could be used in lieu of encoders.
  • the third-party interface referenced in FIG. 3 can include, but is not limited to, communication and/or discreet I/O between the Programmable Tank Cleaning Nozzle and any fluid supply system, robotic arm, boom, or ancillary control system from an outside source.
  • Communication could include, but not limited to, Ethernet ® , Profibus ® , DeviceNet ® , or any other network protocol or fieldbus communication protocol.
  • Discreet I/O could include, but not limited to, run/stop signals, on/off signals, safety interlocks, and the like.
  • FIG. 4 shows a nozzle assembly comprised of a mounting plate 13, stationary upper housing assembly 14, a rotatable lower housing assembly 15, and rotatable fluid jet nozzle assembly 16.
  • FIG. 5 shows a customizable mounting plate 13 affixed atop the nozzle assembly 1.
  • the mounting plate 13 is comprised of a machined plate and cam and groove coupling 17, a.k.a. cam-lok coupling, that acts as the fixture point as well as the connection point for the fluid source.
  • the coupling could range from approximately 12.7 mm (1 ⁇ 2") up to and beyond approximately 152.4 mm (6").
  • the mounting plate 13 can be comprised of any pipe flange, tapered pipe thread, or any other customized flange, coupling or plate.
  • the nozzle assembly can be attached to manways, holes, booms, robotic arms, rigid beams, gantry systems or any other features or devices with adequate structural stability.
  • hydraulic fluid passages are incorporated into the plate where on the bottom side, there is direct interface with an O-ring boss 100 extending from the hydraulic motor ports, and on the opposing side are connection ports for quick disconnect couplings 18.
  • the ports can be tapered or straight pipe fittings and could include an O-ring face.
  • hydraulic hoses 19 can be used to extend the quick couplings away from any encumbrances.
  • cross drilled passages can be used to locate the ports in any orientation on the plate.
  • Bulkhead connectors 20 for any electrical or fiber optic signal cables are also mounted to the plate.
  • the mounting plate 13 mounts to the top housing assembly 14 and seals with an O-ring 101.
  • FIG. 5A depicts an alternate embodiment where hydraulic fittings 102 are affixed to the hydraulic motors 23,24 and extend through the mounting plate 13.
  • An O-ring seal 104 is compressed between the mounting plate 13 and an intermediate plate 106 to prevent the ingress of any fluid or debris into the stationary upper housing assembly 14.
  • the hydraulic hoses 19 with quick disconnect couplings 18 of FIG. 5 can be connected to the hydraulic fittings. Alternately, any hydraulic hose(s) with the correct corresponding hose ends can be directly coupled to the hydraulic fittings 102.
  • FIG. 6 shows an upper housing assembly 14 is comprised of two hydraulic motors secured in a cylindrical housing.
  • the housing 21 can be made of stainless steel, aluminum, or carbon steel and be comprised of machined components, cast components, welded components, or a combination thereof.
  • the housing can be bare metal or coated with a protective coating such as, but not limited to, electroless nickel, anodizing or chrome plating. Integral to the housing, is a fluid flow tube 22.
  • Each motor assembly 23, 24 can be coupled to a precision gear train where one rotates the lower housing assembly 15 and the other rotates the fluid jet nozzle assembly 16; thus, providing two degrees of freedom known as pan and tilt.
  • Pan can be described by approximately 360 degrees of rotation of the lower housing assembly about the longitudinal, vertical axis.
  • Tilt can be described by approximately 360 degrees of rotation of the fluid jet(s) about a horizontal axis perpendicular to the longitudinal, vertical axis.
  • the upper housing assembly mates with the lower housing assembly and is sealed with an O-ring 25.
  • the pan axis motor assembly 23 can be comprised of a drive gear 30 on the output shaft of a hydraulic motor 31 driving the lower housing gear train which is comprised of a double row of intermediate gearsets 32 configured in a parallel shaft 33 and 35 arrangement that is finally meshed to an internal tooth ring gear 34.
  • Each intermediate gearset 32 incorporates two gears of varying pitch diameters that are fixed together and are allowed to freewheel on its corresponding shaft 33, 35.
  • the gears can be staged such that rotation of the first gearset causes rotation of the second meshed gearset on the adjacent shaft which in turn drives the third gearset on the previously mentioned shaft and so forth and so on until the final gear 36 in the stack is reached.
  • This gear is fixed to its corresponding support shaft 35 that extends back through one stack of gears in order to drive a gear 37 mounted on the opposing end.
  • This gear can be meshed with an internal tooth ring gear 34 affixed to the lower housing assembly.
  • Each stage causes a speed reduction and the number and sizes of gears are such that a final gear reduction range of approximately 40:1 up to approximately 400:1 can be achieved.
  • the tilt axis motor assembly 24 is comprised of a drive gear 40 on the output shaft of a hydraulic motor 41 driving the lower housing gear train which is comprised of a double row of intermediate gearsets 42 configured in a parallel shaft 43 arrangement that is meshed to an internal tooth ring gear 44 coupled to a bevel gearset comprised of 45 and 46.
  • Each intermediate gearset 42 incorporates two gears of varying pitch diameters that are fixed together and are allowed to freewheel on its corresponding shaft 43, 47.
  • the gears can be staged such that rotation of the first gearset causes rotation of the second meshed gearset on the adjacent shaft which in turn drives the third gearset on the previously mentioned shaft and so forth and so on until the final gear 48 in the stack is reached.
  • This gear is fixed to its corresponding support shaft 47 that extends back through one stack of gears in order to drive a gear 49 mounted on the opposing end.
  • This gear is meshed with an internal tooth ring gear 44 affixed a bevel gear 45.
  • a corresponding bevel gear 46 is situated at 90 degrees and is affixed to the fluid jet nozzle assembly.
  • Each stage causes a speed reduction with exception to the bevel gear stage which is a speed increase.
  • the number and sizes of gears are such that a final gear reduction range of approximately 40:1 up to approximately 400:1 can be achieved.
  • an encoder 50 can be coupled to each hydraulic motor for closed loop, positional feedback control.
  • the preferred embodiment incorporates fiber optic encoders.
  • encoders can be wired to isolation barriers for intrinsically safe operation.
  • the encoder can be either absolute or incremental.
  • the encoder is equipped with an encoder gear 51 meshing with the output pinion 30, 40 of the hydraulic motor 31, 41.
  • the gear can be anti-backlash to allow high resolution while eliminating errors due to gear slop.
  • the anti-backlash gear can be a spring loaded split gear arrangement.
  • the anti-backlash gear can be any spring loaded, tapered, or precision machining method available that reduces or eliminates backlash.
  • an encoder can be directly integrated internally to the motor with a flexible shaft.
  • the encoder can be directly coupled to the output shaft of the motor with rigid or flexible coupling.
  • gears in the above embodiments can be manufactured from stainless steel, carbon steel, alloy steel, aluminum, bronze alloy, or plastic.
  • the gears are heat treated. In other embodiments, they could be in the annealed state or case hardened.
  • the gears can be lubricated using any grease, oil, or dry lubricant suitable for open gearing.
  • the embodiment can incorporate a homing sensor 52 mounted to a stationary point on the upper housing assembly 14.
  • the homing sensor 52 can detect a target 53 mounted to a rotation part on the lower housing assembly 15. Once detected, the homing sensor 52 reports back to the controller a signal to stop rotation at a predetermined home position.
  • this embodiment incorporates a fiber optic sensor.
  • the fiber optic sensor could be of the reflective or thru beam type.
  • the target could be any solid object where a surface can be detected.
  • the target could be a small diameter hole.
  • the sensor can be a proximity, laser, ultrasonic, or any other noncontact sensor.
  • the sensor can be such that it is wired to isolation barriers for intrinsically safe operation.
  • Fig. 6C refers to the preferred embodiment depicts a mechanical stops.
  • the pin assembly is comprised of a pin 26, a seal 27, a spring 28 and a threaded housing 29 supplied with hydraulic fluid through a rigid hydraulic conduit 38.
  • Each housing threads into the upper stationary housing 14 and is oriented parallel to the longitudinal axis of the nozzle assy.
  • the pin contains features to hold the seal against a bore in the housing which guides the pin as it extends out. Hydraulic pressure extends and holds the pin, while a spring will retract the pin when pressure is relieved. This pin can be actuated against a flat surface on the gear.
  • the pin As the gear rotates, the pin is continuously pressed against the surface until it aligns with a slot cut into the gear. Rotation continues until the pin hits the end of the slot, a.k.a the stop, preventing further rotation.
  • the slot can have a ramped lead-in to maintain continuous contact. Once both stops are engaged, the system control parameters can be adjusted back to the default home position.
  • a rigid tube supplies hydraulic fluid to the uppermost pin assembly. Crossporting in the upper stationary housing 14 simultaneously diverts flow to the lower most pin assembly.
  • FIG. 7 shows a lower housing assembly 15 comprised of a cylindrical housing 60, upper support bushing 61, bushings 62, rotary seals 63, wear sleeves 64, and bottom cap 65. Also housed inside is the internal tooth ring gear 34 and bevel gear 44 of FIGS. 6A and 6B .
  • the housing 60 can be made of stainless steel, aluminum, or carbon steel and be comprised of machined components, cast components, welded components, or a combination thereof.
  • the housing 60 can be bare metal or coated with a protective coating such as, but not limited to, electroless nickel, anodizing or chrome plating.
  • a fluid conduit 66 Integral to the housing, is a fluid conduit 66 where the flow tube on the upper housing assembly 14 passes through the seals 63 and top and bottom bushings 62 to permit the passage of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing 360 degrees of rotation.
  • the hardened wear sleeves 64 eliminate wear from the rotary seals 63 rubbing on the outside diameter of the lower housing 15 bore.
  • low pressure/high flow water is defined as, but not limited to, a pressure of up to approximately 345000 kPa (approximately 5000 psig) at a flow rate ranging from approximately 0.63 to approximately 31.54 l/s (approximately 10 to approximately 500 gpm).
  • the fluid can be high pressure/low flow.
  • high pressure/low flow is defined as, but not limited to, a pressure range from approximately 3450 kPa (approximately 5,000 psig) to approximately 345000 kPa (approximately 50,000 psig) at a flow rate range from 0 to approximately 3.1545 l/s (approximately 50 gpm).
  • the fluid jet nozzle assembly 16 of FIG. 8 and FIG. 8A can be comprised of a cylindrical hub 72, bushings 73, rotary seals 67, wear sleeves 68, bolt on cap 69, and low pressure/high flow fluid jets 70.
  • a plurality of high flow, low pressure and high pressure, low flow fluid jets 70 can be incorporated in various combinations and orientations.
  • the fluid jet nozzle assembly 16 mounts on to the lateral tube of FIG. 7 where the fluid flow passes through and exiting approximately 90 degrees through the fluid jets 70.
  • the seals 67 and bushings 66 permit the passage of high pressure, low flow liquids and/or low pressure, high flow fluids while simultaneously allowing 360 degrees of rotation.
  • the hardened wear sleeves 68 eliminate wear from the seals 67 rubbing on the outside diameter of the lateral tube of FIG. 7 .
  • a single fluid jet can be implemented.
  • 3 , 4 or more fluid jets can be implemented.
  • rotary seals in the above embodiments can be manufactured from any low friction plastic, rubber, or metal.
  • the rotary seals have low drag torque, chemical resistance and seal against high flow, low pressure and high pressure, low flow fluid.
  • These seals can be constructed from virgin PTFE or PTFE with additives for wear, pressure, lubricity, static dissipation, and/or temperature.
  • the bushings can be made from Polyphenylene Sulfide (PPS), with or without additives.
  • bushings in the above embodiments can be manufactured from any low friction plastic, rubber, or metal.
  • the bushings have low drag torque and chemical resistance.
  • These bushings can be constructed from virgin PTFE or PTFE with additives for wear, pressure, lubricity, static dissipation, and/or temperature.
  • FIG. 12 depicts pan and tilt gear shear pins 55, 56.
  • Each pin will drive the corresponding gear to drive the rotatable lower housing assembly 15 and the rotatable lower housing assembly 16.
  • Each shear pin 55,56 is comprised of a feature that is engineered to beak at a predetermined force in the event a sudden shock load is encountered; thus, protecting the gear teeth.
  • the pan gear shear pin 55 is tightly fit into the rotatable lower housing assembly 15 and orientated such that a corresponding hole in the pan gear aligns the gear concentrically with the rotatable lower housing assembly 15.
  • the tilt gear shear pin 56 is tightly fit into rotatable fluid jet nozzle assembly 16 and orientated such that a corresponding hole in the tilt gear aligns the gear concentrically with the rotatable fluid jet nozzle assembly 16.
  • the gears can be protected from damage by adding a friction clutch between the bevel gear and the fluid jet nozzle assembly.
  • the clutch is comprised of an O-ring 71 sandwiched between the bevel gear and the nozzle hub.
  • the bevel gear drives the nozzle assembly through friction force that can be adjusted by tightening or loosening the nozzle hub securing screws. Properly adjusted, the friction force is set approximately 10 to approximately 100% above the required driving force so that a set breakaway force is achieved.
  • the clutch will slip protecting the gears and internal components from damage.
  • the clutch can be spring loaded and may include friction plates.
  • the clutch could include a spring loaded ball rolling in a groove.
  • One or more detents are incorporated into the nozzle hub such that one the over torque condition is rectified; the ball will land in the detent and drive the nozzle assembly.
  • the HPU of FIG. 1 can include, but not limited to, the requisite hydraulic pump driven by an electric motor to supply the system with flow and pressure of hydraulic fluid from an integrated storage reservoir.
  • Supply and return hoses connect between the hydraulic power unit and the hydraulic manifold.
  • FIG. 9 is a perspective view of a hydraulic control unit used in the system of FIG. 1 and 2 .
  • the hydraulic control system can include a HPU and manifold block 75 populated with precision servo valves 76 used to control the nozzle assembly 1 of FIG. 1 .
  • a preferred embodiment can use servo valve (or proportional servo valve) control signals that can range from 0 to approximately 100 milliamps. In one embodiment, the signal could be up to, but not including, approximately +/- approximately 40 volts. In another embodiment, the control signal could be transmitted over Ethernet ® , Profibus ® , DeviceNet ® , or any other network protocol or fieldbus communication protocol.
  • Other hydraulic circuit components 77 can also be mounted to the manifold.
  • Hydraulic circuit components 77 can include, but not limited to, servo-proportional valves, solenoid valves, pressure relief valves, fittings, accumulator, a manifold block, gauges, filters, or any devices required to control the nozzle assembly 1.
  • the manifold 75 and corresponding electrical panel 78 can be mounted onto a common frame structure 79 and remotely located outside the classified hazardous area.
  • the electrical circuits can be connected to intrinsically safe barriers and the electronic components will be rated for use in classified hazardous areas.
  • Another embodiment of the device can use explosion proof electric motors to manipulate the nozzle assembly.
  • the motors and actuators would be connected by power and signal cables coming from the device within the tank section being cleaned to an electrical motion controller and power supply residing in the control station located outside the classified hazardous area.
  • control station can be equipped with explosion proof or intrinsically safe components allowing operation in a classified hazardous zone where flammable gases or dust may exist.
  • the electrical panel 78 can be positively purged and monitored with a safety pressure switch interlocked into the control system. If the enclosure does not see adequate pressure, then the enclosure cannot be energized.
  • Housed in the electrical panel 78 can be a motion controller that sends signals to the servo valves 76 in order to manipulate all axes.
  • a human machine interface comprised of a user screen 80, keyboard 81, mouse 82, central processing unit (CPU) 88, operating system, control software, one or more pushbuttons 83, one or more switches 89, and/or one or more joystick controllers 84 all housed in a portable control station 85.
  • a portable stand 87 can be implemented.
  • multiple screens 86 are incorporated.
  • a real-time operating system can be used.
  • FIG. 11 shows a handheld remote control where certain embodiments can be used to control the nozzle assembly.
  • the handheld remote control is comprised of a touchscreen 90, one or more pushbuttons 91, one or more switches 95, and/or one or more joystick controllers 92 all housed in a durable, hand held case 93.
  • the handheld remote control is tethered to the control station through a flexible electrical cable 94.
  • the handheld remote control can be wireless in which a local router can be tethered to the handheld control station through a flexible electrical cable.
  • the invention can be operated from a handheld remote control up to approximately 300 m (approximately 1000 feet) away.
  • Creation of recipes for cleaning specific tanks and commodities can be performed through the control software using a visual interface showing tank interiors, features, patterns to be employed, and regions to be cleaned.
  • an operator inputs diameter(s), lengths, widths, heights, waste depths, etc. to configure the tank to the application. Locations of features, pumps, manways, etc. can also be entered.
  • the software also includes predefined tank profiles, features, and toolpaths.
  • the nozzle assembly can then be positioned into this configuration.
  • An operator selects from predefined recipes based on the desired operation.
  • User inputs e.g., feed rate, pressure, flow, dwell times, etc., allow these recipes to be modified and saved as new recipes.
  • the HMI can display the cleaning progress real time based on feedback from the control system.
  • an inspection system comprising, a camera, housing, lighting, and protective glass could be integrated into the nozzle assembly.
  • the camera includes pan, tilt, and zoom functions.
  • the camera can transmit an image to a display over a fiber optic cable allowing operation in an area with hazardous and explosive vapors and dusts.
  • distance measuring can be accomplished through a laser sensor mounted on the nozzle assembly.
  • the distance sensor could include an IR (infrared radiation) sensor, LiDAR (light detection and ranging), or any other noncontact technique to obtain distance measurements.
  • a laser pointer is utilized to pinpoint a location to be measured.
  • a laser pointer can be mounted on the nozzle assembly coordinated with the nozzle's line of sight. This allows tank imaging can be done prior to cleaning as coordinates can be recorded as an operator manipulates the nozzle and selects points with a laser sensor. Repeating as many times as needed. At the user screen, these points can be viewed, edited and linked together to configure the tank and waste contained within and then to establish nozzle paths and time needed based on the amount waste in the tank.
  • 3D mapping of the tank and waste surface(s) can be accomplished through one or more imaging sensors utilizing ToF (time of flight), stereo vision, structured light, or any imaging technology that can be used to develop 3D point clouds.
  • the preferred embodiment can be equipped with the 3D imaging sensors integrated with nozzle assembly such that an operator can maneuver the 3D imaging sensor to an area in order to take a snapshot. This can be done manually using the remote control or HMI.
  • the sensors can be handheld.
  • the sensors can be mounted remotely with a portable mounting structure.
  • the sensor can be operated independently from the nozzle assembly allowing an operator to scan new areas while the nozzle is cleaning. This increases the efficiency by reducing the overall cycle time.
  • sensors can be employed in conjunction with remote sensors.
  • scanning can be done real-time as the camera travels through an area.
  • the generated point cloud will show the geometry on the touchscreen or HMI. Multiple point clouds can be linked together without external, dedicated targets.
  • This data is loaded into the control software to be analyzed by 3D CAD software. An operator can edit and finalize the CAD rendering to be used as a predefined profile for use as described above.
  • the software automatically recognizes standard features from the point cloud and populates that region with a 3D surface. The remaining data is rendered and meshed into the existing 3D surfaces. This routine can be repeated until ended.
  • Safety features can include devices that are electrically connected to the control system that when activated brings all motion to a safe and controlled stop.
  • the safety devices can include, but not limited to, e-stop buttons, e-stop cables, safety mats, light curtains, or scanning lasers. These devices can be employed in plurality and in any combination thereof.
  • Certain embodiments can comprise further safety features that incorporate whisker style limit switches to detect interferences between the nozzle assembly and another object. Once a crash is detected, a signal is sent to the controller that brings any motion to a controlled stop.
  • Whisker style limit switches can be, but not limited to, a limit switch actuated by a rod protruding parallel axially to the nozzle assembly body.
  • a plurality of whisker style limit switches can be mounted radially around the nozzle assembly for 360 degrees of detection.
  • Other embodiments can use ultrasonic, laser, infrared (IR), proximity, or 3D scanners.
  • the Programmable Tank Cleaning Nozzle can be used for, but not limited to, cleaning any oil rig platform ballast tanks, oil field tanks, ship ballast tanks, hazardous waste tanks, rail car tanks, void tanks, floating roof tanks, or any other large storage tanks of various shapes, e.g., cylindrical, rectangular, spherical, etc.
  • the Programmable Tank Cleaning Nozzle can operate as an independent, standalone unit.
  • the Programmable Tank Cleaning Nozzle can be integrated into existing control systems though hardwire signals, serial communication such as Ethernet ® , Profibus ® , DeviceNet ® , or any other network protocol or fieldbus communication protocol.
  • Two or more Programmable Tank Cleaning Nozzles can be deployed in a single tank. Each nozzle can work independently or in concert to clean large, hard to reach areas more efficiently. The nozzles can also be synchronized together to vector a resultant stream at a single point of impingement. Multiple nozzles can create a networks of troughs, or pathways, such that waste can be effectively directed towards and into retrieval pumps. This reduces the use and loss of liquefiers, water or any other fluid used to clean large tanks.
  • a plurality of axes can be employed in a single nozzle assembly 1 using a combination of any and/or all methods described within previously described embodiments.
  • the degrees of freedom could include pan, tilt, elevate, rotate, azimuth, raise, lower, telescope, pitch, roll, yaw, forward, backward, up, down, or any other freedom of movement in three-dimensional space.
  • each refers to each member of a set or each member of a subset of a set.

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Claims (15)

  1. Hydraulisch gesteuertes, programmierbares Tankreinigungsdüsensystem, umfassend:
    eine Tankreinigungsdüse (1) mit einem oder mehreren Freiheitsgraden, die als unabhängige, eigenständige Einheit mit einer mehrachsigen Bewegungssteuerung betrieben wird; und
    eine Montageeinrichtung (13) zum Montieren der Tankreinigungsdüse (1) an einer Struktur, die aus einem jeglicher bestehender Folgenden ausgewählt ist: einem Rohr, einem Ausleger, einem Roboterarm, einem Portalsystem, einem starren Balken, einem Mannloch und einer anderen starren Struktur,
    wobei das System ferner Folgendes umfasst: eine Software, die Punktwolkendaten analysiert, um eine Standardgeometrie zu erkennen und dann fehlende Daten zu ergänzen, um ein vollständiges Merkmalsprofil zu erhalten, und einen 3D-Sensor, der den Bereich scannt, sodass die Software Punktwolkendaten in 3D-CAD-Modelle umwandelt;
    und wobei das System ferner eine Steuerstation (5) mit einer Mensch-Maschine-Schnittstelle umfasst, welche die Steuerung des Systems aus einer Entfernung von bis zu ungefähr 300 m (ungefähr 1000 Fuß) von dem System ermöglicht;
    eine Hydraulikleistungseinheit (2) und einen Verteiler (3) mit durchflussmodulierenden elektrohydraulischen Ventilen, um hydraulisch betätigte Motoren (31, 41) zum Betreiben des Systems in gefährlichen Umgebungen mit Explosionsgefahr zu steuern;
    einen Encoder (Encoder-1, Encoder-2, 50), der an jeden Hydraulikmotor gekoppelt ist und Daten über Glasfaserkabel zum Betrieb in gefährlichen Umgebungen überträgt,
    wobei die Hydraulikleistungseinheit eine konstante Zufuhr von Hydrauliköl an den Ventilen an dem Verteiler bereitstellt, der wiederum den Durchfluss zu entsprechenden Hydraulikmotoren auf Grundlage einer Encoder-Rückmeldung und von durch Software an der Steuerstation entwickelten Werkzeugwegen moduliert, wobei die Encoder-Rückmeldung absolute oder inkrementelle Positionsdaten umfasst, die über eine serielle Schnittstelle mit geschlossenem Regelkreis der Hydraulikmotoren an die Bewegungssteuerung gesendet werden.
  2. System nach Anspruch 1, ferner umfassend:
    in das System integrierte Steuerungen, die mindestens ein beliebiges Netzwerkprotokoll oder Feldbus-Kommunikationsprotokoll verwenden, um eine Schnittstelle mit Geräten von Dritten zu bilden.
  3. System nach Anspruch 1, ferner umfassend:
    mindestens 2 hydraulisch gesteuerte, programmierbare Tankreinigungsdüsensysteme, die zusammenwirkend arbeiten.
  4. System nach Anspruch 1, wobei
    die Encoder für einen eigensicheren Betrieb an Isolationsbarrieren angeschlossen sind.
  5. System nach Anspruch 1, wobei jeder Encoder (50) mit einem Encoderzahnrad (51) ausgestattet ist, das mit einem Ausgangsritzel (30, 40) des Hydraulikmotors (31, 41) ineinandergreift, wobei das Zahnrad spielfrei ist, um eine hohe Auflösung zu ermöglichen und gleichzeitig Fehler aufgrund von Getriebespiel auszuschließen.
  6. System nach Anspruch 1, wobei die Tankreinigungsdüse (1) Folgendes beinhaltet:
    eine Düsenbaugruppe, umfasst in einer oder mehreren Niederdruck-Hochdurchfluss-Fluidspritzdüsen (70), die mit einem Druck von bis zu, jedoch nicht beschränkt auf, ungefähr 3450 kPa (ungefähr 5000 psig) und einer Durchflussrate im Bereich von ungefähr 0,63 bis ungefähr 31,5 l/s (ungefähr 10 bis ungefähr 500 GPM) betrieben werden.
  7. System nach Anspruch 1, wobei die Tankreinigungsdüse (1) Folgendes beinhaltet:
    eine Düsenbaugruppe, umfasst in einer oder mehreren Hochdruck-Niederdurchfluss-Fluidspritzdüsen (70), die mit einem Druck im Bereich von ungefähr 3450 kPa bis ungefähr 345000 kPa (ungefähr 5.000 psig bis ungefähr 50.000 psig) und einem Durchflussratenbereich von ungefähr 0 bis ungefähr 3,15 l/s (ungefähr 0 bis ungefähr 50 GPM) arbeiten.
  8. System nach Anspruch 1, ferner umfassend:
    eine oder mehrere Niederdruck-Hochdurchfluss-Fluidspritzdüsen (70), die mit einer oder mehreren Hochdruck-Niederdurchfluss-Fluidspritzdüsen (70) integriert sind, wobei die Niederdruck-Hochdurchfluss-Fluidspritzdüsen mit einem Druck von bis zu ungefähr 3450 kPa (ungefähr 5000 psig) und einer Durchflussrate im Bereich von ungefähr 0 bis ungefähr 3,15 l/s (ungefähr 10 bis ungefähr 500 GPM) betrieben werden, und eine Hochdruck-Niederdurchfluss-Fluidspritzdüse, die mit einem Druckbereich von ungefähr 3450 kPa bis ungefähr 345000 kPa (ungefähr 5.000 psig bis ungefähr 50.000 psig) und einem Durchflussratenbereich von ungefähr 0 bis ungefähr 3,15 l/s (0 bis ungefähr 50 GPM) betrieben wird.
  9. System nach Anspruch 1, ferner umfassend:
    ein Prüfsystem, das eine Kamera beinhaltet, die in einem Schutzgehäuse hinter Schutzglas aufgenommen ist.
  10. System nach Anspruch 1, ferner umfassend:
    ein Abstandsmesssystem, das einen an der Düsenbaugruppe montierten Lasersensor umfasst.
  11. System nach Anspruch 1, ferner umfassend:
    eine Vielzahl von Whisker-Endschaltern zur Unfalldetektion, die radial um die Tankreinigungsdüse (1) montiert sind.
  12. System nach Anspruch 1, ferner umfassend:
    einen Zielsuchsensor (52) mit Glasfaseroptik zur Verwendung in gefährlichen Umgebungen.
  13. System nach Anspruch 1, ferner umfassend:
    einen Scherstift (56) an einer fluidisierten Spritzdüsenbaugruppe (16), um die Zahnräder vor Beschädigung zu schützen, falls die Düsenbaugruppe fallen gelassen oder angeschlagen wird.
  14. System nach Anspruch 1, ferner umfassend:
    Software zur Benutzerdefinition von Tankdetails und Reinigungsparametern, die aus mindestens einem von Werkzeugpfad, Geschwindigkeiten und Verweilzeiten ausgewählt sind.
  15. System nach Anspruch 1, ferner umfassend:
    zwei gegenüberliegende Düsen (16) einer Fluidspritzdüse, die ungefähr 180 Grad voneinander entfernt sind, um Schubkräfte auszugleichen;
    optional ferner umfassend:
    einen Antrieb für die Schwenk- und Neigeachse, der jeweils aus einem Parallelwellengetriebe besteht, bei dem Stirnräder die Kapazität aufweisen, addiert, subtrahiert oder neu angeordnet zu werden, um ein Untersetzungsverhältnis im Bereich von ungefähr 40:1 bis ungefähr 400:1 zu erreichen;
    und optional ferner umfassend:
    niedriger Widerstand durch die Verwendung reibungsarmer Rotationsdichtungen für Fluide mit hohem Durchfluss, niedrigem Druck und hohem Druck, niedrigem Durchfluss sowie Buchsen mit niedrigem Widerstand, die aus reibungsarmem Kunststoff gebildet sind.
EP19903056.0A 2018-12-23 2019-12-23 Programmierbare tankreinigungsdüse Active EP3897998B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862784512P 2018-12-23 2018-12-23
US16/437,796 US11311920B2 (en) 2018-06-11 2019-06-11 Programmable railcar tank cleaning system
PCT/US2019/068359 WO2020139839A1 (en) 2018-12-23 2019-12-23 Programmable tank cleaning nozzle

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CA3124669A1 (en) 2020-07-02
WO2020139839A1 (en) 2020-07-02
EP3897998A1 (de) 2021-10-27

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