KR20200061732A - Leaking management system for hydrochloric acid tank - Google Patents

Leaking management system for hydrochloric acid tank Download PDF

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Publication number
KR20200061732A
KR20200061732A KR1020180147369A KR20180147369A KR20200061732A KR 20200061732 A KR20200061732 A KR 20200061732A KR 1020180147369 A KR1020180147369 A KR 1020180147369A KR 20180147369 A KR20180147369 A KR 20180147369A KR 20200061732 A KR20200061732 A KR 20200061732A
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KR
South Korea
Prior art keywords
hydrochloric acid
acid tank
welding
iron plate
leaked
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KR1020180147369A
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Korean (ko)
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KR102162716B1 (en
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최형근
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주식회사 포스코
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Priority to KR1020180147369A priority Critical patent/KR102162716B1/en
Publication of KR20200061732A publication Critical patent/KR20200061732A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/22—Safety features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D90/00—Component parts, details or accessories for large containers
    • B65D90/48—Arrangements of indicating or measuring devices
    • B65D90/50—Arrangements of indicating or measuring devices of leakage-indicating devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/12—Vessels

Abstract

Disclosed is a leakage management system for a hydrochloric acid tank. In particular, the leakage management system for a hydrochloric acid tank according to an embodiment of the present invention may comprise: a welding robot, which is moved according to a vertical supporter and a horizontal supporter that are disposed in vertical and horizontal directions at the surrounding portions of a hydrochloric acid tank and have a rack gear, has a pinion gear rotated after being engaged with the rack gear at the lower portion and is moved to a portion with leakage from the hydrochloric acid tank to perform welding work with respect to the portion with the leakage; a detection unit which detects the hydrochloric acid leakage from the hydrochloric acid tank and delivers information regarding the portion with the leakage; and a control unit which moves the welding robot to the portion with the leakage based on the delivered information in order to perform repair work with respect to the portion with the leakage. Therefore, the leakage from the hydrochloric acid tank can be effectively repaired and managed.

Description

염산탱크용 누출 관리시스템{LEAKING MANAGEMENT SYSTEM FOR HYDROCHLORIC ACID TANK}Leaking management system for hydrochloric acid tanks {LEAKING MANAGEMENT SYSTEM FOR HYDROCHLORIC ACID TANK}

본 발명은 염산탱크용 누출 관리시스템에 관한 것이다.The present invention relates to a leak management system for hydrochloric acid tanks.

염산을 저장하는 염산탱크는 내부에 저장되는 염산을 안전하게 보존할 수 있도록 화학적으로 안정되어야 하며, 대량의 염산에서 발생하는 내부 압력을 충분히 지탱할 수 있도록 구조역학상으로 견고하여야 한다. The hydrochloric acid tank that stores hydrochloric acid must be chemically stable to safely preserve the hydrochloric acid stored therein, and must be structurally robust to sufficiently support the internal pressure generated by a large amount of hydrochloric acid.

염산탱크 주변에는 염산탱크로부터 염산이 누출된 경우 광범위한 확산을 막기 위한 구조물로서 방류턱이 설치된다.A discharge jaw is installed around the hydrochloric acid tank as a structure to prevent widespread diffusion when hydrochloric acid leaks from the hydrochloric acid tank.

그러나, 염산 누출 시 작업자가 조치하러 오기 전까지 유해물질이 증발되어 주변 환경 오염 및 인체 호흡기, 피부 등으로 침투될 가능성이 높다. 또한 용액이 고압으로 비산될 경우 방류턱 외부로 방출될 수 있다.However, in the case of leaking hydrochloric acid, it is highly likely that harmful substances will evaporate and penetrate into the surrounding environment, human respiratory system, and skin until the worker comes to take action. In addition, when the solution is scattered at high pressure, it may be released outside the discharge jaw.

이에 종래에는 염산탱크로부터 염산의 누출 여부를 감지하기 위한 장치가 공개된 바 있으나, 누출 부위에 대한 신속한 조치가 필요한 실정이다.Accordingly, in the related art, a device for detecting the presence of hydrochloric acid from a hydrochloric acid tank has been disclosed, but a rapid action on the leaked area is required.

관련된 종래기술로서 한국등록실용신안 제20-0267292호(2002.02.25. 등록일)를 참조하기 바란다.As a related prior art, please refer to Korean Registered Utility Model No. 20-0267292 (2002.02.25. registration date).

한국등록실용신안 제20-0267292호(2002.02.25. 등록일)Korean Registered Utility Model No. 20-0267292 (Date of registration on Feb. 25, 2002)

본 발명의 실시 예는 염산탱크에서 발생한 누출을 효과적으로 보수 및 관리할 수 있는 염산탱크용 누출 관리시스템을 제공하고자 한다.An embodiment of the present invention is to provide a leak management system for a hydrochloric acid tank that can effectively repair and manage leaks generated in the hydrochloric acid tank.

본 발명의 일 측면에 따르면, 염산탱크의 주변부에 세로 및 가로 방향으로 마련되고 래크 기어를 가진 세로지지대와 가로지지대를 따라 이동하며, 하부에 상기 래크 기어에 맞물려 회전하는 피니언 기어를 마련하고, 상기 염산탱크의 누출된 부위로 이동하여 상기 누출된 부위에 대한 용접 작업을 수행하는 용접로봇; 상기 염산탱크로부터 발생한 염산 누출을 감지하고, 상기 누출된 부위에 대한 정보를 전달하는 감지부; 및 상기 전달된 정보를 기초로 상기 용접로봇을 상기 누출된 부위로 이동시켜 상기 누출된 부위에 대한 보수 작업이 수행되도록 하는 제어부;를 포함하는 염산탱크용 누출 관리시스템이 제공될 수 있다.According to an aspect of the present invention, the pinion gear is provided in the longitudinal and transverse directions on the peripheral portion of the hydrochloric acid tank and moves along the vertical and horizontal supports with rack gears, and the pinion gear that rotates in engagement with the rack gears at the lower part is provided. A welding robot that moves to a leaked portion of the hydrochloric acid tank and performs a welding operation on the leaked portion; A sensing unit that detects a leak of hydrochloric acid from the hydrochloric acid tank and transmits information on the leaked area; And a control unit for moving the welding robot to the leaked area based on the transmitted information to perform repair work on the leaked area. A leak management system for a hydrochloric acid tank may be provided.

상기 용접로봇은 용접 작업을 수행하는 용접헤드와, 상기 용접헤드를 지지하며, 다관절 형태의 관절부를 포함하는 로봇몸체와, 상기 로봇몸체를 이동시키는 구동부를 포함할 수 있다.The welding robot may include a welding head performing a welding operation, a robot body supporting the welding head and including a multi-joint joint, and a driving unit for moving the robot body.

상기 구동부는 상기 세로지지대와 가로지지대를 따라 이동하며, 상기 피니언 기어를 가진 구동휠과, 상기 세로지지대 및 상기 가로지지대를 감싸는 형태로 마련되어 상기 세로지지대 및 상기 가로지지대에 상기 로봇몸체를 장착시키는 지지프레임을 포함하고, 상기 지지프레임의 단부는 한번 이상 절곡 연장되어 상기 세로지지대 및 상기 가로지지대의 홈에 결합될 수 있다.The driving unit is moved along the vertical support and the horizontal support, and is provided in a form surrounding the driving wheel with the pinion gear, the vertical support and the horizontal support to mount the robot body on the vertical support and the horizontal support It includes a frame, the end of the support frame may be extended to bend one or more times to be coupled to the groove of the vertical support and the horizontal support.

상기 구동부는 상기 로봇몸체가 상기 누출된 부위에 도착하면 상기 용접 작업을 안정적으로 수행하기 위해 자성을 갖는 전자석으로 이루어질 수 있다.The driving unit may be formed of an electromagnet having magnetism to stably perform the welding operation when the robot body arrives at the leaked portion.

상기 로봇몸체에 마련되며, 상기 누출된 부위로 보수용 철판을 밀착시키는 철판밀착부를 더 포함하되, 상기 철판밀착부는 상기 철판에 결합된 축을 이동시켜 상기 노출된 부위에 상기 철판을 밀착시키고, 상기 용접로봇은 상기 철판을 상기 노출된 부위에 용접시킬 수 있다.It is provided on the robot body, and further comprising an iron plate adhering portion for adhering the repairing iron plate to the leaked portion, wherein the iron plate adhering portion moves the axis coupled to the iron plate to make the iron plate adhere to the exposed portion, and to weld. The robot can weld the iron plate to the exposed area.

본 발명의 실시 예에 따른 염산탱크용 누출 관리시스템은 염산탱크에서 발생한 누출을 효과적으로 보수 및 관리할 수 있다.The leak management system for a hydrochloric acid tank according to an embodiment of the present invention can effectively repair and manage leaks generated in a hydrochloric acid tank.

용접로봇을 신속하여 누출된 부위로 이동시켜 누출된 부위에 대한 보수를 수행할 수 있다.The welding robot can be quickly moved to the leaked area to repair the leaked area.

본 발명의 효과들은 이상에서 언급한 효과들로 제한되지 않으며, 언급되지 않은 또 다른 효과들은 청구범위의 기재로부터 당업자에게 명확하게 이해될 수 있을 것이다.The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

도 1과 도 2는 본 발명의 실시 예에 따른 염산탱크용 누출 관리시스템을 정면도와 평면도로 도시한 것이다.
도 3은 도 1의 염산탱크용 누출 관리시스템에 포함된 용접로봇의 단면도이다.
도 4는 도 3의 용접로봇의 이동 형태를 도시한 것이다.1 and 2 show a leak management system for a hydrochloric acid tank according to an embodiment of the present invention in front view and plan view.
FIG. 3 is a cross-sectional view of the welding robot included in the leak management system for hydrochloric acid tank of FIG. 1.
FIG. 4 shows the moving form of the welding robot of FIG. 3.

이하에서는 본 발명의 실시 예들을 첨부 도면을 참조하여 상세히 설명한다. 이하에 소개되는 실시 예들은 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 본 발명의 사상이 충분히 전달될 수 있도록 하기 위해 예로서 제공되는 것이다. 본 발명은 이하 설명되는 실시 예들에 한정되지 않고 다른 형태로 구체화될 수도 있다. 본 발명을 명확하게 설명하기 위하여 설명과 관계없는 부분은 도면에서 생략하였으며 도면들에 있어서, 구성요소의 폭, 길이, 두께 등은 편의를 위하여 과장되어 표현될 수 있다. 명세서 전체에 걸쳐서 동일한 참조번호들은 동일한 구성요소들을 나타낸다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments introduced below are provided as examples in order to sufficiently convey the spirit of the present invention to those skilled in the art to which the present invention pertains. The present invention is not limited to the embodiments described below and may be embodied in other forms. In order to clearly describe the present invention, parts not related to the description are omitted in the drawings, and in the drawings, the width, length, and thickness of components may be exaggerated for convenience. Throughout the specification, the same reference numbers refer to the same components.

도 1 및 도 2를 참조하면, 염산탱크용 누출 관리시스템은 염산탱크(10)의 주변부에 세로 및 가로 방향으로 마련되고 래크 기어(G1)를 가진 종방향지지대(101)와 횡방향지지대(102)를 따라 이동하며, 하부에 래크 기어(G1)에 맞물려 회전하는 피니언 기어(G2, 도 3 참조)를 마련하고, 염산탱크(10)의 누출된 부위로 이동하여 누출된 부위에 대한 용접 작업을 수행하는 용접로봇(100)과, 염산탱크(10)로부터 발생한 염산 누출을 감지하고, 누출된 부위에 대한 정보를 전달하는 감지부(200)와, 감지부(200)에 의해 전달된 정보를 기초로 용접로봇(100)을 염산탱크(10)의 누출된 부위로 이동시켜 누출된 부위에 대한 보수 작업이 수행되도록 하는 제어부(300)를 포함한다.1 and 2, the leak management system for the hydrochloric acid tank is provided in the longitudinal and transverse directions on the periphery of the hydrochloric acid tank 10 and has a longitudinal support 101 and a transverse support 102 with a rack gear G1. ), the pinion gear (G2, see FIG. 3) rotating in engagement with the rack gear (G1) at the bottom, and moving to the leaked part of the hydrochloric acid tank (10) to perform welding work on the leaked part Based on the information transmitted by the welding robot 100, the sensing unit 200 that detects the leak of hydrochloric acid from the hydrochloric acid tank 10, and transmits information about the leaked area. It includes a control unit 300 to move the furnace welding robot 100 to the leaked portion of the hydrochloric acid tank 10 to perform repair work for the leaked portion.

종방향지지대(101)는 염산탱크(10)와 방류턱(20) 사이에 복수 개 배치되며, 용접로봇(100)이 이동 가능하도록 래크 기어(G1)를 형성하고 있다.A plurality of longitudinal supports 101 are disposed between the hydrochloric acid tank 10 and the discharge jaw 20, and the rack gear G1 is formed so that the welding robot 100 can move.

횡방향지지대(102)는 종방향지지대(101)에 연결되며, 염산탱크(10)의 형태에 따라 원형으로 복수 개 마련될 수 있다. 마찬가지로 용접로봇(100)이 이동 가능하도록 래크 기어(G1)를 형성하고 있다.The lateral support 102 is connected to the longitudinal support 101, it may be provided in a plurality in a circular shape according to the shape of the hydrochloric acid tank 10. Similarly, the rack gear G1 is formed so that the welding robot 100 can move.

용접로봇(100)은 종방향지지대(101)와 횡방향지지대(102)를 따라 이동하면서 염산탱크(10)의 누출된 부위에 대한 용접 작업을 수행한다. 이러한 용접로봇(100)은 예컨대 종방향지지대(101)와 횡방향지지대(102)에 각각 하나 이상 마련되거나, 종방향지지대(101)와 횡방향지지대(102)를 서로 이동 가능하게 마련하여, 용접로봇(100) 한 대로 용접 작업을 수행할 수도 있다. 용접로봇(100)은 예컨대 레이저 용접 작업을 수행할 수 있다. The welding robot 100 performs welding work on the leaked part of the hydrochloric acid tank 10 while moving along the longitudinal support 101 and the lateral support 102. For example, one or more of the welding robots 100 may be provided on the longitudinal support 101 and the transverse support 102, or the longitudinal support 101 and the transverse support 102 may be moved to each other to be welded. The welding operation may be performed with one robot 100. The welding robot 100 may perform a laser welding operation, for example.

도 3과 도 4를 참조하면, 상술한 용접로봇(100)은 용접 작업을 수행하는 용접헤드(110)와, 용접헤드를 지지하며, 다관절 형태의 관절부를 포함하는 로봇몸체(120)와, 로봇몸체(120)를 이동시키는 구동부(130)를 포함한다.3 and 4, the above-described welding robot 100 includes a welding head 110 performing a welding operation, a robot body 120 supporting a welding head, and including a multi-joint joint part, It includes a driving unit 130 for moving the robot body 120.

용접헤드(110)는 도시하지는 않았으나 레이저라인을 통해 레이저를 쏘아 염산탱크(10)의 누출된 부위에 대한 레이저 용접을 수행할 수 있다. 그러나, 이에 한정되는 것은 아니며 아크 용접 등 공지된 다양한 형태의 용접 작업이 수행될 수 있으며, 그에 따라 부속되는 수단들이 마련될 수 있다.Although the welding head 110 is not shown, laser welding may be performed on the leaked portion of the hydrochloric acid tank 10 by shooting a laser through a laser line. However, the present invention is not limited thereto, and various known welding operations, such as arc welding, may be performed, and thus, attached means may be provided.

로봇몸체(120)는 다관절 형태의 관절부를 통해 상하 좌우 및 회전 등을 수행하면서 용접헤드(110)의 위치를 변경할 수 있다. 이를 통해 염산탱크(10)의 누출된 부위에 대한 효과적인 용접 작업이 수행될 수 있다.The robot body 120 may change the position of the welding head 110 while performing up, down, left, right, and rotations, etc. through the articulated joint. Through this, an effective welding operation on the leaked portion of the hydrochloric acid tank 10 can be performed.

구동부(130)는 종방향지지대(101)와 횡방향지지대(102)를 따라 이동하며, 피니언 기어(G2)를 가진 구동휠(132)과, 세로지지대(101) 및 가로지지대(102)를 감싸는 형태로 마련되어 세로지지대(101) 및 가로지지대(102)에 로봇몸체(120)를 장착시키는 지지프레임(134)을 포함한다.The driving unit 130 moves along the longitudinal support 101 and the transverse support 102, and surrounds the drive wheel 132 with the pinion gear G2, the vertical support 101, and the cross support 102. It is provided in a form and includes a support frame 134 for mounting the robot body 120 to the vertical support 101 and the horizontal support 102.

구동휠(132)은 도시하지는 않았으나 모터에 의해 회동할 수 있다.The driving wheel 132 is not shown, but can be rotated by a motor.

지지프레임(134)의 단부는 한번 이상 절곡 연장되어 세로지지대(101) 및 가로지지대(102)의 홈에 결합될 수 있다. 지지프레임(134) 내부에는 상술한 구동휠(132)이 배치될 수 있다.Ends of the support frame 134 may be bent one or more times to be coupled to the grooves of the vertical support 101 and the horizontal support 102. The drive wheel 132 described above may be disposed inside the support frame 134.

구동부(130)는 로봇몸체(120)가 누출된 부위에 도착하면 자성을 갖는 전자석으로 이루어질 수 있다. 이를 통해, 용접 작업이 안정적으로 수행될 수 있다.The driving unit 130 may be made of an electromagnet having magnetism when the robot body 120 arrives at a leaked portion. Through this, the welding operation can be stably performed.

한편, 도 3에 도시한 바와 같이 염산탱크용 누출 관리시스템은 로봇몸체(120)에 장착되며, 염산탱크(10)의 누출된 부위로 보수용 철판(S)을 밀착시키는 철판밀착부(140)를 포함할 수 있다. 철판밀착부(140)는 철판(S)에 결합된 축(143)을 이동시켜 염산탱크(10)의 노출된 부위에 철판(S)을 밀착시킨다. On the other hand, as shown in FIG. 3, the leak management system for the hydrochloric acid tank is mounted on the robot body 120, and the iron plate adhering part 140 that closely adheres the repair iron plate S to the leaked portion of the hydrochloric acid tank 10 It may include. The iron plate adhering portion 140 moves the shaft 143 coupled to the iron plate S to closely adhere the iron plate S to the exposed portion of the hydrochloric acid tank 10.

축(143)의 끝단부는 철판(S)에 착탈 가능하게 결합될 수 있다. 예컨대, 도시하지는 않았으나 철판(S)에 형성된 홈에 축(143)의 끝단부가 결합되어 있거나 축(143)의 끝단부에 전자석 형태로 철판(S)이 장착될 수 있다. 이러한 결합 및 해제와 관련해서는 종래의 공지된 다양한 방법이 사용될 수 있다.End portion of the shaft 143 may be detachably coupled to the iron plate (S). For example, although not shown, an end portion of the shaft 143 may be coupled to a groove formed in the iron plate S, or the iron plate S may be mounted in an electromagnet shape at the end of the shaft 143. Various conventionally known methods can be used in connection with this coupling and disengagement.

축(143)은 유압실린더(145)에 의해 이동될 수 있으며, 용접로봇(100)은 철판(S)을 염산탱크(10)의 노출된 부위에 용접시킨다.The shaft 143 can be moved by the hydraulic cylinder 145, and the welding robot 100 welds the iron plate S to the exposed portion of the hydrochloric acid tank 10.

도 1과 도 2를 참조하면, 감지부(200)는 염산탱크(10)로부터 발생한 염산 누출을 감지하고, 누출된 부위에 대한 정보를 전달하는 감시카메라를 포함할 수 있다. 감지부(200)는 방류턱(20) 또는 염산탱크(10)의 설정된 부위에 둘 이상 마련될 수 있으며, 용접로봇(100)이 염산탱크(10) 주변부에 복수 개 배치된 경우, 용접로봇(100)에 마련될 수도 있다. 1 and 2, the sensing unit 200 may include a surveillance camera that detects the leak of hydrochloric acid from the hydrochloric acid tank 10 and transmits information about the leaked area. The detection unit 200 may be provided in two or more in the set portion of the discharge jaw 20 or the hydrochloric acid tank 10, and when a plurality of welding robots 100 are disposed in the periphery of the hydrochloric acid tank 10, the welding robot ( 100).

각각의 감시카메라는 일정 주기로 염산탱크(10)의 설정 영역을 촬영하면서 염산의 누출 여부를 감시할 수 있다. 감시카메라는 염산탱크(10)에서 염산 누출이 발생한 경우, 제어부(300)로 누출된 부위에 대한 정보를 전달할 수 있다. 본 발명의 실시 예에서는 감시카메라를 예로 들어 설명하였으나, 다른 예에서는 공지된 다양한 수단을 이용하여 염산탱크(10)로부터 발생한 염산 누출 여부를 감지할 수 있다.Each surveillance camera may monitor the leakage of hydrochloric acid while photographing a set area of the hydrochloric acid tank 10 at a predetermined cycle. When the hydrochloric acid leak occurs in the hydrochloric acid tank 10, the surveillance camera may transmit information on the leaked portion to the control unit 300. In the exemplary embodiment of the present invention, a surveillance camera has been described as an example, but in other examples, it is possible to detect whether hydrochloric acid leaks from the hydrochloric acid tank 10 using various known means.

제어부(300)는 감지부(200)에 의해 전달된 정보를 기초로 용접로봇(100)을 염산탱크(10)의 누출된 부위로 이동시켜 누출된 부위에 대한 보수 작업이 수행되도록 하며, 이러한 제어부(300)는 로봇몸체(120)에 마련되거나, 원격지의 시스템에 마련될 수 있다.The control unit 300 moves the welding robot 100 to the leaked portion of the hydrochloric acid tank 10 based on the information transmitted by the detection unit 200 to perform repair work on the leaked portion. 300 may be provided in the robot body 120, or may be provided in a remote system.

구체적으로, 제어부(300)는 감지부(200)에 의해 전달된 정보를 기초로 모터에 의해 구동휠(132)을 구동시켜, 염산탱크(10)의 누출된 부위로 로봇몸체(120)를 이동시킨 후, 염산탱크(10)의 누출된 부위에 대한 용접 작업이 수행되도록 할 수 있다.Specifically, the control unit 300 moves the robot body 120 to the leaked portion of the hydrochloric acid tank 10 by driving the driving wheel 132 by a motor based on the information transmitted by the sensing unit 200. After, the welding operation for the leaked portion of the hydrochloric acid tank 10 may be performed.

이때, 제어부(300)는 상술한 철판밀착부(140)에 의해 염산탱크(10)의 노출된 부위에 철판(S)을 밀착시킨 후, 용접헤드(110)에 의해 철판(S)을 염산탱크(10)의 노출된 부위에 용접시켜, 염산탱크(10)의 노출된 부위에 대한 보수 작업을 수행할 수 있다.At this time, the control unit 300 is in close contact with the iron plate (S) to the exposed portion of the hydrochloric acid tank 10 by the above-described iron plate fitting portion 140, the iron plate (S) by the welding head 110, the hydrochloric acid tank By welding to the exposed portion of (10), it is possible to perform repair work on the exposed portion of the hydrochloric acid tank 10.

이상에서는 특정의 실시 예에 대하여 도시하고 설명하였다. 그러나 상기한 실시 예에만 한정되지 않으며 발명이 속하는 기술분야에서 통상의 지식을 가진 자라면 이하의 청구범위에 기재된 발명의 기술적 사상의 요지를 벗어남이 없이 얼마든지 다양하게 변경 실시할 수 있을 것이다.In the above, specific embodiments have been illustrated and described. However, the present invention is not limited to the above-described embodiments, and a person skilled in the art to which the invention pertains may variously perform various changes without departing from the gist of the technical spirit of the invention described in the following claims.

100: 용접로봇 101: 종방향지지대
102: 횡방향지지대 110: 용접헤드
120: 로봇몸체 130: 구동부
132: 구동휠 134: 지지프레임
140: 철판밀착부 143: 축
145: 유압실린더 200: 감지부
300: 제어부 G1: 래크 기어
G2: 피니언 기어 S: 철판100: welding robot 101: longitudinal support
102: transverse support 110: welding head
120: robot body 130: drive unit
132: drive wheel 134: support frame
140: iron plate 143: shaft
145: hydraulic cylinder 200: detection unit
300: control unit G1: rack gear
G2: Pinion gear S: Iron plate

Claims (5)

염산탱크의 주변부에 세로 및 가로 방향으로 마련되고 래크 기어를 가진 세로지지대와 가로지지대를 따라 이동하며, 하부에 상기 래크 기어에 맞물려 회전하는 피니언 기어를 마련하고, 상기 염산탱크의 누출된 부위로 이동하여 상기 누출된 부위에 대한 용접 작업을 수행하는 용접로봇;
상기 염산탱크로부터 발생한 염산 누출을 감지하고, 상기 누출된 부위에 대한 정보를 전달하는 감지부; 및
상기 전달된 정보를 기초로 상기 용접로봇을 상기 누출된 부위로 이동시켜 상기 누출된 부위에 대한 보수 작업이 수행되도록 하는 제어부;를 포함하는 염산탱크용 누출 관리시스템.It is provided in the longitudinal and transverse directions on the periphery of the hydrochloric acid tank and moves along the vertical and horizontal supports with rack gears, and provides a pinion gear that rotates in engagement with the rack gear at the bottom, and moves to the leaked portion of the hydrochloric acid tank. A welding robot that performs a welding operation on the leaked area;
A sensing unit that detects a leak of hydrochloric acid from the hydrochloric acid tank and transmits information on the leaked area; And
And a control unit that moves the welding robot to the leaked area based on the transmitted information to perform repair work on the leaked area. 제1항에 있어서,
상기 용접로봇은
용접 작업을 수행하는 용접헤드와,
상기 용접헤드를 지지하며, 다관절 형태의 관절부를 포함하는 로봇몸체와,
상기 로봇몸체를 이동시키는 구동부를 포함하는 염산탱크용 누출 관리시스템.According to claim 1,
The welding robot
A welding head that performs welding work,
A robot body supporting the welding head and including a multi-joint joint,
Leak management system for hydrochloric acid tank including a driving unit for moving the robot body. 제2항에 있어서,
상기 구동부는 상기 세로지지대와 가로지지대를 따라 이동하며, 상기 피니언 기어를 가진 구동휠과,
상기 세로지지대 및 상기 가로지지대를 감싸는 형태로 마련되어 상기 세로지지대 및 상기 가로지지대에 상기 로봇몸체를 장착시키는 지지프레임을 포함하고, 상기 지지프레임의 단부는 한번 이상 절곡 연장되어 상기 세로지지대 및 상기 가로지지대의 홈에 결합되는 염산탱크용 누출 관리시스템.According to claim 2,
The driving unit moves along the vertical support and the horizontal support, and a drive wheel having the pinion gear,
It is provided in a form surrounding the vertical support and the horizontal support and includes a support frame for mounting the robot body to the vertical support and the horizontal support, and an end of the support frame is bent one or more times to extend the vertical support and the horizontal support. Leak management system for hydrochloric acid tanks coupled to the grooves of 제2항에 있어서,
상기 구동부는 상기 로봇몸체가 상기 누출된 부위에 도착하면 상기 용접 작업을 안정적으로 수행하기 위해 자성을 갖는 전자석으로 이루어진 염산탱크용 누출 관리시스템.According to claim 2,
The driving unit is a leak management system for a hydrochloric acid tank made of an electromagnet having magnetism to stably perform the welding operation when the robot body arrives at the leaked portion. 제2항에 있어서,
상기 로봇몸체에 마련되며, 상기 누출된 부위로 보수용 철판을 밀착시키는 철판밀착부를 더 포함하되,
상기 철판밀착부는 상기 철판에 결합된 축을 이동시켜 상기 노출된 부위에 상기 철판을 밀착시키고,
상기 용접로봇은 상기 철판을 상기 노출된 부위에 용접시키는 염산탱크용 누출 관리시스템.According to claim 2,
It is provided on the robot body, and further comprises an iron plate adhering portion for adhering the repair iron plate to the leaked area,
The iron plate adhering portion moves the shaft coupled to the iron plate to closely adhere the iron plate to the exposed area,
The welding robot is a leak management system for hydrochloric acid tank that welds the iron plate to the exposed area.
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Publication number Priority date Publication date Assignee Title
CN115320137A (en) * 2022-10-12 2022-11-11 四川省简阳空冷器制造有限公司 Autoclave
CN115320137B (en) * 2022-10-12 2022-12-20 四川省简阳空冷器制造有限公司 Autoclave

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