JPS61259740A - Apparatus for stirring liquid flowable material - Google Patents

Abstract

PURPOSE:To perform effective stirring, by constituting the titled apparatus from a rotor for generating the steam of a liquid flowable material along the perpendicular direction of a frame, a rotor for generating the stream of the liquid flowable material along the horizontal direction of said frame and the buoyancy tank attached to the frame. CONSTITUTION:The electromotors 5, 7a, 7b of the main body 3 of a stirring apparatus are operated by a control apparatus 26 and, by rotating first rotors 6a, 6b and second rotors 9a, 9b to a predetermined direction or opposite directions, the main body 3 of the stirring apparatus rises or falls, horizontally advances or retracts or performs directional conversion. When the first rotors 6a, 6b are rotated to a positive direction, a liquid flowable material is pushed to the perpendicular direction by blades and the apparatus main body 3 rises. When the rotors 6a, 6b are rotated to opposite directions, the liquid flowable material is pushed upward in a perpendicular direction and the apparatus main body 3 falls and is attached to the bottom surface of a storage tank 22 to succeed stirring.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a stirring device for a liquid fluid.

(Prior art) In general, in storage tanks that contain liquid fluids such as crude oil,
As sludge in the liquid gradually accumulates, storage capacity decreases, and cleaning work during storage tank inspection is extremely difficult.

Therefore, as Japanese Patent Publication No. 59-46658, we created a liquid fluid flow that runs approximately vertically in the liquid fluid and a liquid fluid flow that runs approximately horizontally, making it possible to stir the fluid while moving within the fluid. There is something like that.

As a result, when the liquid fluid is extracted from the storage tank, sludge and the like are suspended in the liquid fluid and simultaneously discharged to the outside, thereby preventing accumulation within the storage tank.

(Problems to be Solved by the Invention) By the way, in this stirring device, since the main body of the device is thrown into the liquid fluid, the weight of the main body is reduced to make it easier to move through the liquid fluid. A buoyancy tank is provided at the top of the main body.

However, in this case, the main body and the buoyancy tank are connected by a cable, so it is easy to lose balance, for example when moving due to a horizontal liquid flow, and the main body may swing, making it difficult to move smoothly. It happened that it became.

In addition, two rotating bodies that generate horizontal liquid flow are installed on the left and right sides of the main body, and by rotating these bodies in the same or opposite directions, it is possible to move forward or change direction. Sometimes, due to slight differences in rotational force or the state of the liquid fluid, the robot could end up moving forward in a direction different from the target.

(Means for Solving the Problems) This first invention stirs a liquid fluid while moving it, and the first invention stirs the liquid while moving in the liquid. a first rotating body that generates a liquid fluid flow; a second rotating body installed on the frame that generates a liquid fluid flow along a substantially horizontal direction; and a buoyancy unit that is integrally attached to an upper part of the frame. Received an MIt warning from Tank. In a second aspect of the present invention, the liquid fluid intermediate device further includes a rectifying plate provided in a direction parallel to the flow of the liquid fluid caused by the first and second rotating bodies.

(Function) Therefore, the frame on which the first and second rotating bodies are installed and the buoyancy tank move together, so even when the rotating bodies are driven, they do not lose their balance and maintain a stable posture. be able to.

In addition, since the rectifying plate is provided in a direction parallel to the flow of the liquid fluid caused by the rotating body, the directionality when moving forward or backward is improved.

(Example) Figures 1 to 3 show an example of the stirring device of the present invention, in which a vertical frame 1 and an elliptical cylindrical body 2 having a plurality of windows fixed to the lower part constitute a frame of the device body 3. 4 is formed.

At the center of the frame 4, an electric motor 5 is installed above the vertical frame 1, and a gear box (not shown) is installed inside the elliptical cylinder body 2.
First rotating bodies 6a and 6b are disposed on opposite edges within the elliptical cylinder 2 in such a direction that their rotation generates a liquid fluid flow along a substantially vertical direction.

The first rotary bodies 6a, 6b are composed of impellers having a plurality of blades installed therein.

Further, on both sides of the electric motor 5, an auxiliary stirring electric motor 7a,
7b and an ear box 8a on the vertical frame 1 below it.

8b is installed, and second rotary bodies 9 at 9 b are disposed on both sides of the vertical frame 1 in such a direction that rotation of the second rotary body causes a flow of liquid fluid along a substantially horizontal direction. The second rotating bodies 9a, 9b are also made of impellers having a plurality of blades installed therein.

In addition, in this device, the brush 1,
Ia and llb are arranged, and these brushes lla and flb
are connected to the rotating shaft of the first rotating body 61Lt 6 b so as to rotate in the same manner as the first rotating body 6 at 6 b.

At the top of this frame 4, hollow first buoyancy tanks 12a and 12b formed in a semi-cylindrical shape are arranged so as to sandwich the top of the vertical frame 1 and the electric motors a5, 7a+7b. The lower part of the tank is integrally fixed to the vertical frame 1, and the upper part of the tank is integrally fixed via a box 13 provided at the upper end.

Furthermore, a hollow large-volume second buoyancy tank □1 is formed in an oval cylindrical shape at the top of the chisel ind box 13.
4 is placed, and this tank 14 is the india box 1
They are integrally fixed via 3.

Further, the lower surfaces of the first buoyancy tanks 12a, 12b are directed outward from the vertical frame 1 so as not to create resistance to the flow of the liquid fluid caused by the first rotating bodies 6m, 6b, etc.
It is formed on a slope.

The first buoyancy tanks 12a, 12b and the vertical frame 1
and the elliptical cylindrical body 2, there is a
111 degrees, that is, the first and second rotating bodies 6a, 6b,
A straightening plate 15 is arranged in a direction parallel to the liquid fluid flow due to 1,1□, 1:l, and 9 at 9 b. This current plate 1
5 is fixed to the tanks 12a, 12b, the vertical frame 1, and the elliptical cylinder body 2, and also serves as a reinforcing member.

On the other hand, a plurality of obstacle detectors 16 are provided on the outer peripheral wall of the elliptical cylinder body 2.
is provided. This obstacle detector 16 uses a tape switch, a limit switch, a pressure-sensitive switch, etc., and can be a known detector that emits a signal when it comes into contact with an obstacle.

In addition, for example, the distortion Dage type,
A depth detection n17 consisting of a potency n type, bourdon tube type pressure detector, etc. is attached, and when the device main body 3 is placed in liquid fluid in the storage tank, it outputs a depth signal according to the pressure. It looks like this.

Further, a position detector is provided to detect the position of the device body 3 when the device body 3 is placed in the liquid fluid in the storage tank.

This position detector is based on an ultrasonic system; for example, an ultrasonic wave transmitter 19 such as a cylindrical piezoelectric ceramic type is attached to the upper center of the second buoyancy tank 14, and ultrasonic wave receivers 20a, 20b. , 20c are placed at predetermined positions within the storage tank (see FIG. 4).

This position detector generates ultrasonic pulses with a fixed time width from the ultrasonic transmitter 19, and each ultrasonic receiver 20m, 2
The ultrasonic pulses are received at 0b and 20c. The distance from each receiver 20a=20b, 20c to the transmitting wave 5!19 is measured by measuring the time until then and multiplying the time by the speed of sound. In addition, if the distance from each receiver 20a, 20b=20c is measured, the position of the apparatus main body 3 can be calculated|required by three-dimensional coordinates.

On the other hand, in the device main body 3, a cable 21 for driving the electric motor and for each signal is wired along the second buoyancy tank 14, and this cable 21 is connected to the storage tank 2 as shown in FIG.
Float J% disposed in the liquid fluid 23 contained in 2
24 and 25, and is connected to a control device 26 located outside the storage tank 22.

Among these, the floating roof 25 comes into contact with the floating roof 27 as shown in FIG. 5 when the roof 27 of the storage 11! 22 is a floating roof type, but since the roof 7 support 28 protrudes into the liquid,
In order to prevent the cable 21 from getting entangled with this, the length l of the floating soldier 25 is designed to be longer than the length 11 of the support 28.
& will be done. When the cable insertion guide pipe 29 is provided on the floating roof 27, the length of the guide pipe 29 is of course longer than 12.

The control device 26 generates ultrasonic pulses from the ultrasonic transmitter 19 of the position detector, and controls the time it takes for the ultrasonic pulses to be received by each of the ultrasonic receivers 20a*20b, 20c. From this time, the stirring device main body 3
Calculate the position of. In addition, the control device [26 uses this calculated value, the contact signal from the obstacle detector 16, and the depth detector 17.
It is configured to drive each electric motor 815°7 at Tb of the stirring device main body 3 based on the depth signal of the water.

Note that the control device 26 includes information such as the position, depth, and depth of the stirring device main body 3.
An alarm indicator is provided to indicate collision with an obstacle, etc., and a manual operation switch and an automatic operation switch are provided so that the above operations can be switched between manual and automatic operation.

The operating mode of the stirring device configured as above will be described below.

As shown in FIG. 4, the stirring device main body 3 is introduced into the storage tank 22 in which the liquid fluid 23 is stored through the roof manhole 30 of the storage Wj 22 and distributed into the liquid fluid 23. This stirring device main body 3 has first and second buoyancy tanks 12atl.
2bti 4 adjusts the dead weight in liquid to almost 0.

The control device 26 controls the electric power of the stirring device main body 3 @5°7a
t T b is activated, and the first rotating body 6 at 6 b
By rotating the rotating bodies 9 at 9 b of #&2 in a predetermined direction or in the opposite direction, the stirring device main body 3 ascends or descends, horizontally moves back and forth, changes direction, and the like.

When the first rotating bodies 6m and 6b are rotated in the forward direction, the liquid fluid is pushed downward by the blades, that is, in the vertical direction,
As a result, the main body 3 of the device rises, while this rotating body 6 a
When t S b is rotated in the opposite direction, the liquid fluid is pushed vertically upward, and the main body of the device is lowered and stored! Attach it to the floor of No. 22 and continue stirring. That is, when the stirring device main body 3 rises and falls, the first rotating bodies 6 a, 6 b
Due to this rotation, a liquid fluid flow is generated in the liquid fluid 23 in an approximately vertical up and down direction, and the liquid fluid 23 is stirred.

Hello, save money! If the sludge 31 or the like is deposited on the bottom of the I22, the sludge 31 is dispersed and suspended in the liquid fluid 23, and if the liquid fluid 23 contains the sludge 31, the deposition is prevented.

On the other hand, by rotating the second rotating body 91 in the forward direction, the liquid fluid 23 is pushed backward in the horizontal direction, and the stirring device main body 3 moves forward, and conversely, the liquid fluid 23 is pushed backward in the horizontal direction. By rotating the rotating body 91L+9b in the opposite direction, the liquid fluid 23 is pushed forward and the device main body 3 moves backward. Moreover, the second rotating bodies 9 a, 9
By rotating b in opposite directions, the device main body 3 changes direction. The second rotating body 9 at of this stirring device main body 3
The rotation of S b causes a substantially horizontal flow of the liquid fluid in the liquid fluid 23, and the liquid fluid stirred by the first rotating bodies 6a, 6b is further effectively stirred.

By the way, when the stirring device main body 3 moves forward or backward as described above, the main body frame 4 and each buoyancy tank No. 12a
, 12 &, 14 are connected by a wire cable or the like, the buoyancy tank 1 is
2a, 12b, and 14 may be delayed, which may cause the main body 3 to lose its balance. However, according to this device, the buoyancy tanks 12a, 12b, and 14 are integrally attached to the main body frame 4, so that the main body of the device 3 loses balance,
There is no rocking and you can move forward and backward in a stable posture.

When the stirring device main body 3 changes direction, the wire cable will be twisted if it is connected with a wire cable, etc. However, this does not happen with this device, and therefore the twisting of the wire cable causes the device main body 3 and the buoyant force to be twisted. Tanks 12a, 12b.

14 from swinging against each other.

In addition, the device main body 3 includes first and second rotating bodies 6at 6.
b, a rectifying plate 15 is provided in a direction parallel to the flow of the liquid fluid according to 911.9b. Therefore, when the device body 3 moves back and forth, the slurry may curve due to the difference in the rotational force between the second rotating bodies 9a and 9b, but since the direction is determined by the current plate 15, it moves straight back and forth. be able to.

When the stirring device main body 3 changes direction, the rectifier plate 15 acts as a resistance, but the speed at which the force direction changes is slowed accordingly, making it easy to control the direction by rotating the second rotating bodies 9a and Lb in the opposite direction. become. Note that this current plate 15 does not create resistance to the vertical flow of the liquid fluid caused by the first rotating body 6 at S b.

On the other hand, the stirring device main body 3 is placed at the bottom of the storage tank 22,
It is also possible to clean the bottom with the rotating brush Ilawllb, and if there is sludge 31 on the bottom, the sludge 31 can be efficiently removed and floated, and the sludge 31 can be removed and floated to form a liquid fluid flow caused by the rotation of the first rotating bodies 6a and 6b. You can ride it and blow it up.

These series of operations are done by hand! I! This can be done by 1IPA operation, but it can also be done automatically by a control program set in the control wave e26.

In the case of this automatic operation, the control device 26 first floats the stirring device main body 3 from the state where it is on the bottom, moves it in the horizontal direction, and then makes it land on the bottom again and perform stirring.This normal control is performed as follows. It will be done.

That is, the electric motors 5.7a, 7 rotate the first rotating bodies 6a, 6b in the forward direction, and rotate the second rotating bodies 9a, 9b in the same direction in the forward direction.
Drive b. Due to these rotations, the 1t2F main body 3 moves forward while rising. tlIJl rotating body 6a
After the forward rotation of t S b is performed for a period of T1, the first : rotating body 6 at 6 b is rotated in the reverse direction T
After rotating for two periods (T, T2), the second rotating body 9a,
9b stops the rotation after the T3 period. This results in
The main body 3 of the device moves forward a predetermined distance and then lowers to store! It landed on the bottom of In22, and at this time the brush lla,
llb removes the sludge 31 etc. attached to the bottom and cleans the bottom. □Also, the first rotating body 6a,
6b is rotated in the opposite direction for a period of T2, the control wave W126 again rotates the rotating bodies 9a and 9b of fjs2 to T.
While rotating for one period, the first rotating bodies 6 a, 6
b is rotated in the positive direction again for the T1 period. Hereafter, this operation is repeated, and the stirring device main body 3 stirs and cleans the inside of the storage tank 22 while moving up and down and moving forward.

On the other hand, during the above operation, if a signal indicating that the stirring device main body 3 has come into contact with an obstacle or the peripheral wall of the storage tank 22 is received from the obstacle detector 16, an avoidance operation described below is performed.

This avoidance operation is an operation in which the main body 3 rises from the bottomed state and also turns, and the direction of this turning and the magnitude of the turning angle are controlled completely randomly. This is to prevent the movement path of the main body 3 from falling into a steady state by providing some regularity (for example, back and forth between opposing barriers), and this control is as follows.

That is, when the first rotating body 68t6b is rotating in the opposite direction, the control device 26 drives the electric motor W15 so that it rotates in the forward direction, and conversely drives the rotating body 6a of fj&1.
, 6 When b rotates in the positive direction and becomes 1, its *
While driving the electric current ff1tl15 to maintain rotation in the forward direction, the second rotary body 9 at 911 is
Electric 1f17a, 7b so that it rotates in the binary direction
to drive. As the first rotating bodies 6 a, 6 b rotate in the forward direction and the second rotating bodies 9 at S b rotate in opposite directions, the device main body 3 itself rotates and rises.

This increase persists for the T4 period, and then for the T5 period (T4<T
5), the first rotating bodies 6 a, 6 b are rotated in the opposite direction, and the rotating bodies 9 a, 9 bli' T s period (
It is stopped after T s < 2 T 4). This results in
After rotation, the stirring device main body 3 descends and lands on the bottom, but the direction of rotation is the mutually opposite rotation direction of the second rotating body 9 at S b, and the rotation angle is determined by Ts. The selection of this direction and the size of T are determined by the control device rI! by a signal from a random signal generator provided at 26.

After the T7 period has elapsed, if the control device fi26 is still receiving a detection signal from the obstacle detector 16, the control device fi26 repeats the above control until it no longer receives the signal from the obstacle detector 16, and at the same time repeats the signal. If no reception is received, the normal control described above is performed.

In addition, the control device 26 performs the above-described normal control and obstacle avoidance control, and also detects the depth and position of the stirring device main body 3 based on the signal from the depth detector 17 and the signal from the position detector. The range in which the stirring device main body 3 moves can be set depending on the depth and position.

When the stirring device main body 3 reaches the boundary of its range, the first rotating body 6
Ate b and the second rotating bodies 9g and 9b are rotated to change the direction of the apparatus main body 3. Therefore, by setting the range in advance, the stirring device main body 3 moves only within the set range and stirs efficiently.

Note that the depth and position are displayed on the display of the control device (!26), so it is of course possible to perform manual operation.

In addition, the cable 21 between the stirring device main body 3 and the control device 26 is supported by the floating soldiers 24 and 25, and the floating soldiers 25 and the roof support 28 when the floating roof 27 lands on the bottom and the cable input guide Ir! 29, etc., so when the main body 3 of the device moves within the storage tank 22,
There is no possibility that the cable 21 becomes entangled with the roof support 28 or the like.

(Effect of the invention) 19 l-1n)-IL-Ta01111117t? I
It is possible to very effectively stir and clean a storage tank with a capacity of -1'111'lh (t). The buoyancy tank is integrally attached, and a rectifying plate is provided in the direction parallel to the liquid fluid flow by the first and second rotating bodies, so the device body is stable even when moving through the liquid fluid. It can move in the correct direction while maintaining its posture, ensuring high reliability at f2 position.

[Brief explanation of drawings]

Figures 151 to 53 are a front view, a side view, and a view taken from the A-A line of the stirring device main body showing the embodiment of the present invention, and the fourth
The figure is an overall configuration diagram, and FIG. 5 is a configuration diagram of a cable portion. 3... Apparatus body, 4... Frame, 5... Electric motor, 6m, 6b-"first rotating body, 7a, 7b-.
・Electric motor, 9a, 9b...second rotating body, 12a, 1
2b...! @1 buoyancy tank, 13...joint box, 14...second buoyancy tank, 15...straightening plate.

Claims (2)

[Claims] (1) In a stirring device that stirs a liquid fluid while moving, a first device that generates a liquid fluid flow along a substantially vertical direction is installed on a frame formed by a vertical frame and an elliptical cylinder.
A liquid fluid stirring device comprising a rotating body, a second rotating body installed on the frame and generating a liquid fluid flow along a substantially horizontal direction, and a buoyancy tank integrally attached to the upper part of the frame. . (2) In a stirring device that stirs a liquid fluid while moving, a first device that generates a liquid fluid flow along a substantially vertical direction is installed on a frame formed by a vertical frame and an elliptical cylinder.
a second rotating body that is installed on the frame and generates a liquid flow along a substantially horizontal direction; a buoyancy tank that is integrally attached to the upper part of the frame; A liquid fluid stirring device comprising a flow of liquid fluid caused by a rotating body and a rectifier plate provided in a direction parallel to the flow of liquid fluid.