JPS62258296A - Robot for inspecting inside of liquefied gas storage tank - Google Patents
Robot for inspecting inside of liquefied gas storage tankInfo
- Publication number
- JPS62258296A JPS62258296A JP9820586A JP9820586A JPS62258296A JP S62258296 A JPS62258296 A JP S62258296A JP 9820586 A JP9820586 A JP 9820586A JP 9820586 A JP9820586 A JP 9820586A JP S62258296 A JPS62258296 A JP S62258296A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- tank
- liquefied gas
- specific gravity
- buoyancy
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 claims abstract description 16
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 239000007788 liquid Substances 0.000 claims description 16
- 239000007789 gas Substances 0.000 claims description 12
- 239000011261 inert gas Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 abstract description 4
- 239000010935 stainless steel Substances 0.000 abstract description 4
- 239000012528 membrane Substances 0.000 description 6
- 239000003208 petroleum Substances 0.000 description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- QXJJQWWVWRCVQT-UHFFFAOYSA-K calcium;sodium;phosphate Chemical compound [Na+].[Ca+2].[O-]P([O-])([O-])=O QXJJQWWVWRCVQT-UHFFFAOYSA-K 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910001873 dinitrogen Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 229920001225 polyester resin Polymers 0.000 description 1
- 239000004645 polyester resin Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/004—Details of vessels or of the filling or discharging of vessels for large storage vessels not under pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2203/00—Vessel construction, in particular walls or details thereof
- F17C2203/06—Materials for walls or layers thereof; Properties or structures of walls or their materials
- F17C2203/0634—Materials for walls or layers thereof
- F17C2203/0636—Metals
- F17C2203/0639—Steels
- F17C2203/0643—Stainless steels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2223/00—Handled fluid before transfer, i.e. state of fluid when stored in the vessel or before transfer from the vessel
- F17C2223/01—Handled fluid before transfer, i.e. state of fluid when stored in the vessel or before transfer from the vessel characterised by the phase
- F17C2223/0146—Two-phase
- F17C2223/0153—Liquefied gas, e.g. LPG, GPL
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2260/00—Purposes of gas storage and gas handling
- F17C2260/01—Improving mechanical properties or manufacturing
- F17C2260/015—Facilitating maintenance
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Filling Or Discharging Of Gas Storage Vessels (AREA)
Abstract
Description
【発明の詳細な説明】
尻！よ夙■里公更
本発明は、液化ガス貯蔵用タンクの内部点検用ロボット
に関する。[Detailed description of the invention] Butt! The present invention relates to a robot for inspecting the inside of a liquefied gas storage tank.
ｌ米技生 ＬＮＧやＬＰＧを液状で貯蔵する手段としては。l rice engineer As a means of storing LNG and LPG in liquid form.
ＬＮＧやＬＰＧを概ね常圧下で低温液体として貯蔵する
低温タンク貯蔵と加圧下で常温液体で貯蔵する常温タン
ク貯蔵及び石油等の常温常圧貯蔵がある。There are two types of storage: low-temperature tank storage in which LNG and LPG are stored as low-temperature liquids under normal pressure, normal-temperature tank storage in which liquids at normal temperature are stored under pressure, and normal-temperature and normal-pressure storage for petroleum and the like.
低温タンクの開放を行なって内部点検を行なうには、タ
ンク内の貯液の抜去、タンクの内昇温。To open the low-temperature tank and perform an internal inspection, remove the liquid stored in the tank and raise the temperature inside the tank.
窒素ガス送入による残留ガスの置換、更に空気置換を行
なって始めて開放検査、補修が可能となり、検査後、上
記と逆の手順で再び貯液の充填が可能となり、極めて長
い期間と莫大なコスト（例えば８〜１０万賎のＬＮＧタ
ンクの場合５，６力月から１年の歳月と５乃至６億円の
コスト）を必要とする。しかも、大量の貯雇液をその間
移し替えるための予備タンクを必要とし、或はプラント
全体の操業を縮小せざるをえない。Open inspection and repairs are only possible after replacing the residual gas by supplying nitrogen gas and then replacing the air with air.After the inspection, the stored liquid can be filled again by reversing the steps above, which requires an extremely long period of time and a huge cost. (For example, in the case of an LNG tank of 80,000 to 100,000 yen, it will take 5 to 6 months to 1 year and cost 500 to 600 million yen). Furthermore, a reserve tank is required to transfer a large amount of stored liquid during that time, or the operation of the entire plant must be reduced.
一方、高圧液化ガスを貯蔵す−る球形タンクや石油タン
クなどの常温タンクではタンクの昇温という工程は不要
であるが低温タンクとほぼ同様の要領で開放検査が行な
われ、低温タンクはどではないまでも長い期間缶莫大な
コストを要する。On the other hand, for room-temperature tanks such as spherical tanks and petroleum tanks that store high-pressure liquefied gas, the process of raising the temperature of the tank is not necessary, but open inspections are performed in much the same way as for low-temperature tanks. It costs a lot of money to do it for a long time, if not longer.
このようなタンク開放検査に伴うタンク運用上及び経済
上の不都合に対して、作今、国内外で合理的な点検々査
の必要性が唱えられている。特に注目すべきは、タンク
の運転を停止することなく。In response to the operational and economical disadvantages associated with such tank open inspections, the need for rational inspections has been advocated both domestically and internationally. Particularly noteworthy is that without stopping tank operation.
すなわち液を貯蔵したま＼、内部点検をしようとする構
想であって、液中に点検用ロボットを送入しタンク内部
を点検しようとするものである。In other words, the idea is to inspect the inside of the tank while the liquid is stored, and an inspection robot is sent into the liquid to inspect the inside of the tank.
この構想を実現するためには、液中で点検作業を行なう
ためのロボットの開発、このロボットをタンク内に支障
なくおくりこむ技術、液中に送り込まれたロボットの制
御、観察したデータ等の伝送、処理等解決すべき問題が
多くある。In order to realize this concept, we must develop a robot to perform inspection work underwater, develop technology to place this robot into a tank without any problems, control the robot sent into the liquid, and transmit observed data. There are many problems to be solved, such as processing.
且−眞
本発明は、上記の観点から、タンク内に貯蔵される液体
内での移動制御が容易でタンク内面、特に低温タンクの
底抜に損傷を与える可能性の少ないタンク内部点検ロボ
ットを提供することを目的とする。、
パ のための一
本発明の点検ロボットは、上記の目的を達成するため１
点検ロボットに浮力賦与手段を設け、該ロボット全体の
比重をタンク内貯蔵液化ガスの比重より僅かに大きくし
たことを特徴とする。In view of the above, the present invention provides a tank interior inspection robot that can easily control movement within the liquid stored in the tank and is less likely to cause damage to the tank interior, especially to the bottom of a low-temperature tank. The purpose is to In order to achieve the above objectives, the inspection robot of the present invention has the following features:
The inspection robot is equipped with a buoyancy imparting means, and the specific gravity of the entire robot is made slightly larger than the specific gravity of the liquefied gas stored in the tank.
生−凰
上記の如く、ロボットに浮力賦与手段を設け、ロボット
全体の比重を貯蔵液化ガスの比重より僅かに大きくした
ので、ロボットをタンクの搬入口より液中に浸漬する場
合、急激に液中を落下することがなく、タンク底に激突
する心配がなく、特にメンブレン方式の低温タンクにあ
ってはメンブレンを破損するおそれがない、又１着底し
メンブレーンのひだの上２に乗り局部的に加重が掛った
場合にもひだをつぶすことはない、浮力賦与手段はＬＮ
Ｇに対するステンレス鋼のように液化ガスの物性、温度
を考慮した材料から作ることにより、貯蔵液中でも破壊
することなく１機能を果たすことができる。As mentioned above, the robot is equipped with buoyancy imparting means and the specific gravity of the robot as a whole is slightly larger than the specific gravity of the stored liquefied gas, so when the robot is immersed in the liquid from the entrance of the tank, it suddenly immerses in the liquid. There is no risk of falling and hitting the bottom of the tank, and there is no risk of damaging the membrane, especially in membrane-type low-temperature tanks. The buoyancy imparting means is LN, which does not collapse the folds even when a load is applied to the
By making it from a material that takes into consideration the physical properties and temperature of liquefied gas, such as stainless steel for G, it can perform one function without being destroyed even in the stored liquid.
スｍ援ｌ肌
第１図はメンブレン式低温タンクに対する内部点検ロボ
ットに本発、明を適用した実施例、を示す図で、ある。Figure 1 is a diagram showing an embodiment in which the present invention is applied to an internal inspection robot for a membrane type low temperature tank.
ロボット本体１の上部にはステンレス鋼で耐圧密閉容器
として作られたフロート２が取付けられ、全体としての
比重が、このロボットを浸漬して使用するタンク内貯蔵
液化ガスの比重より僅かに大きくなるようにされている
。、フロート２の内部空間は密閉空間とされる場合は真
空に保持されるか。A float 2 made of stainless steel as a pressure-resistant airtight container is attached to the top of the robot body 1, so that the overall specific gravity is slightly larger than the specific gravity of the liquefied gas stored in the tank in which the robot is immersed. It is being done. , If the internal space of the float 2 is a sealed space, is it maintained in a vacuum?
不活性ガスが充填されており、また、下方が開孔された
オープン空、間の場合には内部に不活性ガスか、貯蔵液
の蒸発ガス等が入れられ一定の浮力を与えるようにされ
ている。It is filled with inert gas, and in the case of an open space with a hole at the bottom, inert gas or evaporated gas from the stored liquid is put inside to give a certain buoyancy. There is.
フロート２はステンレス鋼による中空容器とするほか１
例えば微少中空ガラス球（マイクロバルーン）をポリエ
ステル樹脂等のバインダーで固めて成る浮力材を利用す
ることもできる。第１図に示す実施例ではロボットの重
量を支持し、タンク底を移動するため車軸３が設けられ
ている。タンク内部、へ検手段としては、点検用の光源
とテレビカメラの如き点検装置を本体１に直接載置する
か。Float 2 is a hollow container made of stainless steel, and 1
For example, it is also possible to use a buoyancy material made of micro hollow glass spheres (microballoons) hardened with a binder such as polyester resin. In the embodiment shown in FIG. 1, an axle 3 is provided to support the weight of the robot and to move it on the bottom of the tank. As means for inspecting the inside of the tank, a light source for inspection and an inspection device such as a television camera may be placed directly on the main body 1.
或はマニピュレータを本体に取り付けその先端にレンズ
を取付は光ファイバー等でタンク外に映像を伝送する等
のことが考えられるが図には省略されている。又、移動
のための推進手段も省略されている。又、石油タンク等
に適用する場合には、底板上のスラッジの除去のために
ワイヤブラシを設けることもできる。Alternatively, it is possible to attach the manipulator to the main body and attach a lens to the tip of the manipulator to transmit images to the outside of the tank using an optical fiber or the like, but this is not shown in the figure. Further, a propulsion means for movement is also omitted. Further, when applied to an oil tank or the like, a wire brush may be provided to remove sludge on the bottom plate.
第２図に示す他の実施例では、ロボット本体１に推進及
び位置保持手段として１前後方向、左右方向及び上下方
向に推力を発生するスラスタ４゜５．６が設けられてお
り、又底部には倣い装置７が設けられている。これによ
り、ロボットはタンク底及び側面のメンブレン８の凹凸
に沿って底面及び側面と一定の距踵を保持して自走しな
がらタンク内部点検を行なうことができる。In another embodiment shown in FIG. 2, the robot body 1 is provided with a thruster 4°5.6 which generates thrust in the front-rear direction, left-right direction, and up-down direction as a propulsion and position holding means. A copying device 7 is provided. Thereby, the robot can inspect the inside of the tank while keeping a constant heel to the bottom and sides along the unevenness of the membrane 8 on the bottom and sides of the tank.
免−米
以上の如く１本発明ではフロートによりロボットの液中
重量は僅少とされているので、タンク底に掛る重力は僅
かであり、特に、メンブレンタンクの場合でもその凹凸
に応じて円滑に移動することができ、メンブレンのひだ
に局部的に大きな力が掛ることが防止される。又、タン
ク内に搬入時に大きな速度で落下してタンク底に衝突し
てタンク底板、特にメンブレンを損傷したりロボット自
体を破損することが防止される。As mentioned above, in the present invention, the weight of the robot in the liquid is minimized by the float, so the gravity applied to the bottom of the tank is slight, and even in the case of a membrane tank, the robot can move smoothly according to its unevenness. This prevents large forces from being applied locally to the folds of the membrane. Furthermore, when carried into the tank, the robot is prevented from falling at a high speed and colliding with the tank bottom, thereby damaging the tank bottom plate, especially the membrane, or damaging the robot itself.
第１図及び第２図は夫々本発明の実施例を示す側面図で
ある。
１・・・ロボット本体 ２・・・フロート（浮力試
写−１１一段）
第２図
フロート1 and 2 are side views showing embodiments of the present invention, respectively. 1... Robot body 2... Float (Buoyancy preview - 11 stage) Figure 2 Float
Claims (5)
該タンク内部を点検するロボットにおいて、該点検ロボ
ットに浮力賦与手段を設け、該ロボット全体の比重をタ
ンク内蔵液化ガスの比重より僅かに大きくしたことを特
徴とするロボット。(1) In a robot that inspects the inside of a tank that stores liquefied gas while maintaining its operation, the inspection robot is provided with a means for imparting buoyancy so that the specific gravity of the entire robot is slightly larger than the specific gravity of the liquefied gas contained in the tank. A robot that is characterized by:
特徴とする特許請求の範囲第１項に記載のロボット。(2) The robot according to claim 1, wherein the buoyancy imparting means is a pressure-tight sealed container.
スが充填されていることを特徴とする特許請求の範囲第
２項に記載のロボット。(3) The robot according to claim 2, wherein the inside of the pressure-resistant sealed container is vacuumed or filled with inert gas.
不活性ガス又は貯蔵液化ガスの蒸発ガスで充填されてい
ることを特徴とする特許請求の範囲第１項に記載のロボ
ット。(4) The robot according to claim 1, wherein a lower portion of the buoyancy imparting means is open and the inside thereof is filled with an inert gas or evaporated gas of stored liquefied gas.
重より小さい浮力材であることを特徴とする特許請求の
範囲第１項に記載のロボット。(5) The robot according to claim 1, wherein the buoyancy imparting means is a buoyancy material whose specific gravity is smaller than the specific gravity of the liquid stored in the tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9820586A JPS62258296A (en) | 1986-04-30 | 1986-04-30 | Robot for inspecting inside of liquefied gas storage tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9820586A JPS62258296A (en) | 1986-04-30 | 1986-04-30 | Robot for inspecting inside of liquefied gas storage tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62258296A true JPS62258296A (en) | 1987-11-10 |
Family
ID=14213491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9820586A Pending JPS62258296A (en) | 1986-04-30 | 1986-04-30 | Robot for inspecting inside of liquefied gas storage tank |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62258296A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005122525A (en) * | 2003-10-17 | 2005-05-12 | Ishikawajima Harima Heavy Ind Co Ltd | Facility management method using rbm |
-
1986
- 1986-04-30 JP JP9820586A patent/JPS62258296A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005122525A (en) * | 2003-10-17 | 2005-05-12 | Ishikawajima Harima Heavy Ind Co Ltd | Facility management method using rbm |
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