JP2001286841A - Washing lance and portable washing robot using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a washing lance capable of easily washing even a portion difficult to wash by spraying from a usual spray nozzle in a reaction pot having an auxiliary attachment inside, and to provide a robot using the washing lance. SOLUTION: The washing lance is constituted with a boss having a stopper plate and a means for hanging at the upper part and having a guide bar on the side surface and also a detergent passage provided with openings on the side surface and the under surface inside the boss and a pipe connected vertically to the opening of the under surface. The pipe has at least one branched pipe, and each branch pipe has a detergent spray nozzle at its tip. Means for moving horizontally or vertically the washing lance are provided for the portable washing robot. The robot is housed in a housing box having the opening part for moving the washing lance vertically and a opening/closing for valve the opening part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reaction vessel, in particular, a reaction vessel having a fixed accessory such as a heat transfer coil therein.
For example, the present invention relates to a cleaning lance for cleaning the inside of a polymerization vessel and a portable cleaning robot using the same. The present invention also relates to a system for cleaning the inside of a reaction vessel having a fixed accessory therein.

[0002]

2. Description of the Related Art A reactor is used for production in a batch plant, and washing is performed after product production.
For example, the same applies to the case where a varnish, which is one of the raw materials of a paint, is produced by a polymerization reaction.

[0003] Various varnish properties are required depending on the properties of the paint as the final product. In some cases, a plurality of varnishes having different properties are mixed and used. Furthermore, with the diversification and small-scale production of final products, varnish as a raw material tends to be produced in small quantities.

[0004] Against this economic background, varnish production, which has produced a large number of single brands, has been required to be operated in a variety and in a small amount. If the polymerization kettle is used for various purposes in this way, the level of cleaning that has been employed up to now will be unsatisfactory. For this reason,
It is necessary to increase the degree of internal cleaning finish,
In other words, it is desired to perform cleaning without contamination.

[0005] For cleaning the reaction vessel, a cleaning method in which a cleaning lance is inserted from the upper portion of the reaction vessel and a cleaning agent such as high-pressure jet water or a high-pressure organic solvent is sprayed is sometimes used.

[0006] When a cleaning lance is used, it may be provided fixedly or may be provided every time cleaning is performed. When the cleaning lance is fixedly provided in the kettle and is used exclusively, it is easy to take a sealed structure, but since it is separately installed, a large amount of equipment costs is required.

On the other hand, when a cleaning lance is inserted every time cleaning is required, a portable cleaning lance is inserted. However, the cleaning lance has to be inserted from a manhole at the upper part of the pot. This places restrictions on the operation of the lance. That is, the range of the place where high-pressure jet water or the like hits is often limited. For this reason, there are many places where cleaning cannot be performed well. At this time, the manhole is often opened. If the operator attempts to work while visually adjusting the position of the cleaning lance, the operation is performed in an open state, which causes environmental problems, such as leakage of cleaning droplets to the outside.

On the other hand, in the current polymerization pot, there are a heat transfer body (for example, a heat transfer coil) and the like in addition to the stirring blade inside, and the structure is not always easy to clean. The above-mentioned blind spot of the spray nozzle attached to the cleaning lance is not always sufficiently cleaned. Particularly difficult to wash are the lower part of the shuttle on the back side of the heat transfer coil and the back side of the coil. For this reason, after several batches, a worker enters inside, and it was necessary to perform hanging work and the like. There is a need for an apparatus and system for automatically washing such difficult-to-wash parts.

Further, in the conventional method, the effect of cleaning cannot be confirmed each time. For this reason, in many cases, a cleaning confirmation test is performed in advance before cleaning. However, when trying to use the kettle in various ways, there is a demand for confirming whether the inside has been cleaned as intended each time. Confirmation of the current situation is at best visually checked, and is further limited to a range where the eyes can easily reach. For example, the reality is that monitoring is not performed on the back side of the coil or a specific hard-to-see place. Even with a camera, cable problems come up. This is because if the surveillance camera is to be rotated over the entire inside of the shuttle, the cable must be treated.

[0010]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a reaction vessel, particularly a reaction vessel having an accessory therein, for easily cleaning even a portion which is difficult to clean by spraying from a normal spray nozzle. An object of the present invention is to provide a cleaning lance which can be used and a cleaning robot using the same.

Another object of the present invention is to provide a cleaning system that can easily clean the inside of a reaction vessel having an accessory therein.

[0012]

The above object of the present invention is achieved by the following means.

(1) A stopper plate and means for suspension are provided on the upper part, and a guide bar is provided on the side surface.
A boss having therein a cleaning agent passage having openings on side and bottom surfaces, and a pipe vertically connected to the opening on the bottom surface, wherein the pipe has at least one branch pipe. A cleaning lance for a reaction kettle, wherein each branch pipe has a cleaning agent spray nozzle at the tip.

(2) The cleaning lance described in (1) above, a storage box for storing the cleaning lance, and respective means provided in the storage box for moving the cleaning lance in the horizontal direction and moving up and down; An opening provided at a lower portion of the storage box for raising and lowering the cleaning lance from or into the reaction vessel, and an opening / closing valve for the opening; and a mounting flange for attaching the opening / closing valve to the reaction vessel. A portable cleaning robot for reaction kettles provided with guide pins for determining the mounting position.

(3) A stopper plate and means for suspension are provided on the upper part, and a guide bar is provided on the side surface.
And a boss having a means for image processing and a means for transmitting image information therein, and an information lance composed of an image capturing device suspended from the boss further stored in the storage box. 2) The portable cleaning robot described in 2).

(4) Use of the portable cleaning robot according to the above (2) or (3) for cleaning the inside of a reaction vessel having an accessory therein.

(5) The portable cleaning robot according to the above (2) or (3); an insertion port for a cleaning lance of the cleaning robot, which is provided above a reaction vessel having an accessory therein, and the insertion port. An opening / closing valve of: a cleaning agent supply port provided on a stirrer shaft of the reaction vessel; and a cleaning agent passage connected to the supply port and provided in the stirrer shaft; attached to the stirrer shaft;
A brace having a cleaning agent passage therein and a lance receiver corresponding to a boss of the cleaning lance at a front end thereof; and a cleaning liquid spray ring fixed to an upper portion in the reaction vessel, wherein a flange of the on-off valve is provided. A guide pin receiver corresponding to a guide pin of an on-off valve flange of the cleaning robot is provided, and a cleaning agent passage provided in the arm is provided between a cleaning agent passage provided in the agitator shaft and the lance receiver. A system for cleaning the inside of a reaction vessel having an accessory therein, which connects the boss of the inserted cleaning lance with the side opening of the boss.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described with reference to the accompanying drawings. 1 and 2 are a schematic view of a cleaning lance of the present invention and a cross-sectional view of a boss of the cleaning lance. A boss 301 is provided at an upper portion of the cleaning lance 300, and a cleaning agent passage 302 is bored. As described later, the boss is provided with a positioning guide bar 303 so that the cleaning agent passage 302 in the boss can be connected to the cleaning agent passage on the side of the arm. Note that the boss may be slightly tapered to facilitate insertion into a lance receiver of the arm bar described later. A stopper plate 30 having a diameter larger than that of the boss is provided on the upper portion of the boss so as not to fall from the lance receiver.
5, and suspending means for laterally moving and raising / lowering the cleaning lance 300, for example, a knob 306 are provided.

The cleaning agent passage 302 is preferably L-shaped, and has openings on the side and lower surfaces of the boss 301. A pipe 307 is vertically suspended in a welded structure at the opening on the lower surface. This pipe 307 has at least one branched pipe with a spray nozzle 304 at the tip. The spray nozzle 304 can be appropriately selected and used from commercially available ones.

The above-described cleaning lance can be used by being incorporated in a portable cleaning robot described below with reference to FIGS. 3 and 4 are schematic diagrams of one embodiment and another embodiment of the portable cleaning robot of the present invention, respectively, and FIG. 5 is a schematic diagram of an information lance used in the portable cleaning robot of the present invention.

An embodiment of the cleaning robot 200 will be described with reference to FIG. This cleaning robot is of a closed type, and the cleaning lance 300, preferably the information lance 400, is protected and stored in the storage box 201 and transported. To prevent.

An opening is provided at the lower end of the storage box 201, and an opening / closing valve 2 such as a ball valve is provided at the opening end.
10 is attached. A guide pin 211 and a locking cylinder 212 are provided on a peripheral edge of the mounting flange of the on-off valve 210 for coupling and locking with a guide pin receiver 213 of the flange of the on-off valve 104 on the reaction vessel 100 side.

In the storage box, a cleaning lance 300,
A device for moving the information lance 400 from the standby position of the storage box to a position where the information lance 400 is to be inserted into the reactor, and a device for raising and lowering the reactor from the reactor to the reactor are placed. Such devices include, for example, rails 22 for lateral movement.
5, horizontal moving block 224, elevating rail 221,
This is a lifting block 220.

The horizontal moving block and the elevating block are driven by an air motor 222 or the like. The lateral movement block 224 has a cable reel 223, and an automatic opening / closing grip hand 226 is provided at the end thereof. The grip hand is used for gripping a grip portion (means for suspending) of a lance top portion described later when ascending and descending, and is opened and closed by air pressure.

The storage box 201 is provided with a utility box 228 for connecting to the utility supply station 114 (see FIG. 6) on the reaction vessel side. These connection operations can be performed automatically or manually. The utility box 228 is provided with a connector 229 for connecting air, electricity (for PLC), nitrogen gas, signals, and the like. The utility box may be provided with a simple PLC or communication means. The communication may be through a signal connector or may be wireless by PHS or the like. This PLC operates a lock mechanism, opens and closes a ball valve, drives a lifting motor, drives a cable reel,
It controls the driving of the grip hand and the like. PL
When C is not used, all operation signals are given from the higher order.

On the upper part of the storage box 201, a suspender 202 for suspending and moving the cleaning robot 200.
Is provided.

FIG. 4 shows another embodiment of the present invention in which a plurality of cleaning lances 300 are stored. In this embodiment, a plurality of cleaning lances are moved and used by increasing the width of the storage box.

FIG. 5 shows an information lance used in the cleaning robot of the present invention. Observe dirt before washing,
It may be desirable to check the status of the cleaning after the cleaning is completed. As a measure in this case, instead of the pipe 307 in the cleaning lance, an image capturing device 405 such as a CCD, a video camera, or a digital camera is housed in a protective box 404 that can withstand a solvent atmosphere and hung by a cable 406. The information is stored in cable 40
6, an image processing CPU 40 provided in the boss 401 via
2 (image processing means).

A PHS 403 is provided in the boss, for example, and is connected to the image processing CPU 402 to wirelessly transmit image information to the instrument room. Needless to say, it is also possible to connect to the instrument room using a cable. Storage box 20
It is also possible to provide this information lance in 1 and attach the information lance at the same time as mounting the cleaning lance.

Next, a reactor cleaning system using the cleaning robot of the present invention will be described with reference to FIGS.
In FIG. 6, a reaction vessel 100 is fixed, and a work floor 10 is provided at an upper position of a reaction vessel body. A transporting device 21 (see FIG. 8) described later can move on it.

A lance insertion port 1 for a cleaning lance 300 and an information lance 400 to be described later is provided in the upper plate of the reaction vessel.
03 is provided. One insertion slot 103 may be provided, or a plurality of insertion ports 103 may be provided. The insertion port 103 is determined so that the cleaning lance is located between the rear surface of the heat transfer coil 108 and the inner wall 107 of the reaction vessel. A full-bore type automatic opening / closing valve 104 of a bore type typified by a ball valve is provided above the insertion opening. A gas supply port 120 for replacement nitrogen gas is provided for safety during the cleaning operation. Further, a spray ring 140 for cleaning is provided at an upper portion in the reactor.

Stirring is often performed by rotating stirring blades. Various shapes can be used for the shape of the stirring blade. The stirring motor 113 is preferably provided with an inverter and capable of inching.

One to four arms 110 are attached to the stirring shaft 1
It is fixedly provided on the upper part of the radiator 01. This number is determined in consideration of cleaning time, cost, and the like. A lance receiver 111 is provided at the tip of the arm. As shown in FIG. 7, the lance receiver 111 has a circular hole so that a boss portion of a cleaning lance and an information lance described below can be inserted. The circular hole is provided with a straight guide groove 112 corresponding to the guide bar 303 or 403 for guiding when the lance is inserted.

A supply port 106 for the solvent is provided above the stirrer shaft 101 outside the reactor. One of the supply systems when the supply port is provided at the end of the motor shaft is a rotary joint (not shown). In this case, the connection is always made. The supply port 106 may be connected each time washing is performed, and FIG. 1 shows an example of such a case. For example, 18
The supply port 106 is set to 2 as a hose length capable of supporting 0 ° C rotation.
This can be dealt with by providing a location.

A cleaning agent passage 105 is provided in the shaft of the stirrer, and a cleaning agent passage 109 is also opened in the arm 110 through a circular hole of the lance 111 at the tip of the arm.

A utility supply station 114 (an assembly of couplers) for supplying necessary utilities after a washing cartridge described later is attached to the upper part of the reaction vessel.
Is provided.

The cleaning system of the present invention includes a portable cleaning robot shown in FIG. 3 or 4, which is provided with a guide pin of a mounting flange of the on-off valve 104 and a guide pin of a mounting flange of the on-off valve 210 of the cleaning robot. It is positioned and mounted by the guide pin receiver 213.

The method of using the portable cleaning robot and the cleaning system of the present invention will be described below.

1. Transfer and fixation: The cleaning robot 200 is hung by the hanging tool 202 by the transfer device 21 such as an AGV, an overhead traveling crane, a trolley, a manual trolley, and a forklift, and is moved to a predetermined position above the reactor. It is possible to automate all of the movement, positioning, positioning and fixing for setting the cleaning robot, or it is also possible to manually perform a part of the operations. Thus, the cleaning robot 200 is fixed at a predetermined position of the reaction vessel.

Note that such a technique has been established in the field of production technology such as a tank moving method. Explosion-proof measures required in environments where solvents are used are also possible.

After setting the cleaning robot, the utility box 228 is connected to the utility supply station 114 provided on the reaction vessel side. This connection can also be made automatically or manually.

2. Aeration and gas replacement: open / close valves 104 and 210, and react vessel 100 and cleaning robot 200
And ventilate. Since the washing robot of the present invention is of a sealed type, it is possible to prevent the dispersion of the organic solvent gas and the like outside the reactor. Next, a nitrogen gas for replacement is supplied from the gas supply port 120 to replace the organic solvent atmosphere in the reaction vessel and the cleaning robot 200 with nitrogen gas so that the operation is safe. The nitrogen gas containing the organic solvent is discharged from an exhaust port (not shown), and it is confirmed by a gas analyzer or the like that the gas is outside the explosion limit. The organic solvent contained in the replacement gas is removed.

3. Lowering of the cleaning lance: The arm 110 is inched so that the lance receiver 111 at the front end comes directly under the lance insertion opening 103. The cleaning lance 300 is moved by a lateral moving device (lateral moving rail 225, lateral moving block 224) and an elevating device (elevating rail 221;
The lift block 220) sets the lance 111 of the arm 110 from the insertion opening 103 through the on-off valves 210 and 104, and opens the knob 306. At this time, the taper of the boss and the guide bar are effective for setting the cleaning lance 300.

4. Supply of cleaning liquid: A cleaning agent is supplied from a cleaning agent supply port 106 provided on the shaft. It is supplied to the spray nozzle 304 at the tip via the cleaning agent passage of the arm and the cleaning lance.

5. Rotation of the arm: Inching slowly rotates the arm 110 to just before the cleaning lance 300 hits the nozzle of the coil. For example, if there are four arms 110, four cleaning lances can be attached, and in this case, rotation by 90 degrees is sufficient. In this case, the on-off valve 104 at the top of the reactor is closed.

6. Cleaning: A cleaning agent is supplied from a supply port, and the spray lance is moved on the back side of the electric heating coil by rotating the stirrer shaft 101, and the spray nozzle 30 is rotated.
A cleaning agent is sprayed from 4 to clean the back surface of the heat transfer coil 108 and the like.

The inside of the reaction vessel is cleaned simultaneously with the cleaning by the cleaning robot from the spray ring 140 fixed on the upper part of the reaction vessel 100 or separately by spraying a cleaning agent.

When the cleaning is completed, the supply of the cleaning agent is stopped, the on-off valve 104 is opened, the grip hand 226 in the storage box 201 is lowered, the knob 306 is grasped, and the cleaning lance is lifted to move the lance into the storage box 201. It is stored using a lifting device and a horizontal moving device. When a plurality of cleaning lances are used, the same operation is sequentially repeated to store all the cleaning lances in the storage box.

7. Cleaning confirmation: After the cleaning is completed, the information lance 400 is inserted into the reaction vessel in the same manner as the setting of the cleaning lance to the arm in the reaction vessel, and the situation inside the reaction vessel is captured as data in the image camera. Make a call outside the kettle.

After the confirmation, the information lance 400 is lifted in the same procedure as that for lifting the cleaning lance 300 and stored in the storage box 201.

8. Disconnecting the cleaning robot: After the cleaning confirmation work is completed, the reaction vessel 100 and the cleaning robot 200
Nitrogen gas is fed into the chamber to create a safe environment, the on-off valves 104 and 210 are closed, and the lock mechanism is opened. Next, the cleaning robot is moved to a desired place by the transfer device 21.

[0052]

According to the present invention, it is possible to easily clean a portion of a reaction vessel having an accessory therein, which is difficult or impossible to clean by spraying a cleaning agent from a normal spray nozzle. .

[Brief description of the drawings]

FIG. 1 is a schematic view for explaining a cleaning lance of the present invention.

FIG. 2 is a cross-sectional view of the boss of the cleaning lance of the present invention.

FIG. 3 is a schematic view of one embodiment of the portable cleaning robot of the present invention.

FIG. 4 is a schematic view of another embodiment of the portable cleaning robot of the present invention.

FIG. 5 is a schematic view of an information lance used in the portable cleaning robot of the present invention.

FIG. 6 is a schematic diagram for explaining the cleaning system of the present invention.

FIG. 7 is a plan view of a lance receiver provided on the arm of the cleaning system of the present invention.

FIG. 8 is a schematic diagram for explaining a method of using the portable cleaning robot of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 10 work floor 21 transfer device 100 polymerization vessel 101 stirrer shaft 102 heat transfer coil 103 lance insertion port 104, 210 ball valve (open / close valve) 105, 109, 302 cleaning agent passage 106 solvent supply port 107 inner wall of reaction vessel 110 arm tree 111 lance receiver 112 Guide groove 113 Motor 114 Utility supply station 120 Gas supply port 200 Cleaning robot 201 Storage box 202 Hanging tool 211 Guide pin 212 Locking cylinder 213 Guide pin receiver 220 Elevating block 221 Elevating rail 222 Air motor 223 Cable reel 224 Lateral direction Moving block 225 Lateral moving rail 226 Grip hand 228 Utility box 229 Connector 300 Cleaning lance 301 Boss 304 Spray nozzle 30 The stopper plate 306 pinch 307 pipe 400 information lance 401 boss 402 image processing CPU (image processing means) 403 PHS (transmitting means) 404 protection box 405 Camera 406 cable

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[Procedure amendment]

[Submission date] April 17, 2000 (2004.1.
7)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0031

[Correction method] Change

[Correction contents]

A lance insertion port 1 for a cleaning lance 300 and an information lance 400 to be described later is provided in the upper plate of the reaction vessel.
03 is provided. One insertion slot 103 may be provided, or a plurality of insertion ports 103 may be provided. The insertion port 103 is determined so that the cleaning lance is located between the rear surface of the heat transfer coil 108 and the inner wall 107 of the reaction vessel. A full-bore type automatic opening / closing valve 104 typified by a ball valve is provided above the insertion port. A gas supply port 120 for replacement nitrogen gas is provided for safety during the cleaning operation. Further, a spray ring 140 for cleaning is provided at an upper portion in the reactor.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0046

[Correction method] Change

[Correction contents]

6. Washing: The detergent is supplied from a supply port, while the cleaning lances are moved on the rear side of the heat transfer coil by rotating the stirring shaft 101, the spray nozzles 30
A cleaning agent is sprayed from 4 to clean the back surface of the heat transfer coil 108 and the like.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3B116 AA33 AB51 BB22 BB55 CC05 CD31 CD41 4K053 PA18 QA04 RA08 SA04 TA13 XA03 XA08 XA22 XA50

Claims (5)

[Claims] 1. A boss having a stopper plate and means for suspension on an upper portion, a guide bar on a side surface, and a cleaning agent passage having an opening on a side surface and a lower surface therein, and a vertical boss. And a pipe connected to the opening on the lower surface, the pipe having at least one branch pipe, each branch pipe having a cleaning agent spray nozzle at a tip thereof. For cleaning lance. 2. The cleaning lance according to claim 1, a storage box for storing the cleaning lance, respective means provided in the storage box for moving and vertically moving the cleaning lance, and the storage. An opening for lowering the washing lance from or into the reactor, and an opening / closing valve for the opening provided at a lower portion of the box, and attached to a mounting flange of the opening / closing valve on the side of the reactor. A portable cleaning robot for a reaction vessel, comprising a guide pin for determining a position. 3. A boss having a stopper plate and a means for suspension at an upper part, a guide bar on a side face, and a means for image processing and a means for transmitting image information therein. 3. The portable cleaning robot according to claim 2, wherein an information lance comprising an image capturing device suspended from the boss is further stored in a storage box. 4. Use of the portable cleaning robot according to claim 2 or 3 for cleaning the inside of a reaction vessel having an accessory therein. 5. The portable cleaning robot according to claim 2 or 3, which is provided on an upper part of a reaction vessel having an accessory therein, and an opening of a cleaning lance of the cleaning robot and an opening / closing valve of the insertion port; A detergent supply port provided on the stirrer shaft of the reaction vessel and a detergent passage connected to the supply port and provided in the stirrer shaft; attached to the stirrer shaft, having a detergent passage therein; and A brace having a lance receiver corresponding to a boss of the cleaning lance at a tip end; and a cleaning liquid spray ring fixed to an upper part in the reaction vessel, wherein a flange of the on-off valve has a flange of an on-off valve flange of the cleaning robot. A guide pin receiver corresponding to the guide pin is provided, and a cleaning agent passage provided in the arm is provided with a cleaning agent passage provided in the agitator shaft and a side surface of a boss of the cleaning lance inserted into the lance receiver. Opening And a system for cleaning the inside of a reaction vessel having an accessory therein.