WO2017103815A1 - Set of devices with at least one trolley for operation in explosive environment - Google Patents
Set of devices with at least one trolley for operation in explosive environment Download PDFInfo
- Publication number
- WO2017103815A1 WO2017103815A1 PCT/IB2016/057621 IB2016057621W WO2017103815A1 WO 2017103815 A1 WO2017103815 A1 WO 2017103815A1 IB 2016057621 W IB2016057621 W IB 2016057621W WO 2017103815 A1 WO2017103815 A1 WO 2017103815A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- trolley
- cabin
- explosive environment
- devices including
- fact
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
- B08B9/0933—Removing sludge or the like from tank bottoms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
Definitions
- the invention concerns a system which includes multiple devices with one or multiple manually and/or automatically remote controlled trolleys operating in the explosive environment, for example inside the tank for the petroleum products or other flammable or explosive substances.
- the set has elements which ensure comfortable and safe control of the trolley even in cases where there are no safe zones at the place or within the proximity of the place of trolley's deployment which would have been suitable for the position of the propulsion and controls.
- Publication according to US5561883 discloses a remote controlled belt trolley which moves inside the tank for the petroleum substances and cleans the bottom of the tank, whereby it is controlled from the place in the vicinity of the tank.
- a remote controlled belt trolley which moves inside the tank for the petroleum substances and cleans the bottom of the tank, whereby it is controlled from the place in the vicinity of the tank.
- CN201077080 discloses a construction of the remote controlled and propelled trolley, but the do not tackle the issue of the safety of its control from the close vicinity.
- Solution according to US4817653 (A) presupposes deployment of the people directly inc irlci thtci tanl /ht ir*ht io evFfeir*+i ⁇ /ei
- Solution according to WO2012150541 (A2) discloses a trolley which is connected with the central unit of the propulsion and control by means of hydraulic and pneumatic distributions, which significantly increases the safety and shortens the reaction time of the control.
- the control and propulsion of the trolley must be placed at greater distance from the edges of the tank; in distance on order of tens or hundreds of meters. This prolongs the control routes and it significantly impedes the operation of the trolley. If there are multiple tanks in the given locality, they are usually placed one next to each other in such a way that there is no usable safe space between them without the risk of explosion. Even when the trolleys known in the prior state of the art are used in the most explosive zone, the control and personnel of the trolleys remains exposed to risk in an environment where the control and power supply of the trolley is located.
- a set of devices including at least one trolley for the operation in the explosive environment, whereby the trolley is propelled by the pressure medium from the separate source, which is connected to the wiring, and where the trolley is remotely manually and/or automatically controlled by the personnel by means of a control panel, which is independent and distanced from the trolley, whereby the trolley is adjusted for the operation in the explosive environment according to this invention, which essence lies in the fact that the control panel is placed in the cabin (booth) which is adjusted for the presence of the personnel; the cabin has a door for entering and leaving of the personnel,; the cabin is sealed against the outside gases and it has a ventilation to secure clean, non-explosive air inside the cabin.
- the cabin is portable and it is designed from outside to be adjusted and placed into the explosive environment.
- the cabin is ventilated by the clean air which origins in a zone without the dangerous explosive gases.
- the cabin will be placed in the vicinity of the place of operation of the trolley; in the zone which is for example a one step safer than the zone where the trolley itself operates.
- the trolley will usually be designed for a zone that is one step more dangerous than the cabin.
- the trolley can work in the Zone 0, 1 and 2 - that is, in any environment - and the cabin for such trolley will be construed for Zones 1 and 2, which results in the various combinations of the zones allowed for trolley and the cabin, respectively.
- the adjustment of the cabin for the placement to the explosive environment requires meeting of the respective standards or their combination, respectively, whereby the standards define various measures for prevention of the appearance of sparks, for the prevention of dangerous temperature and so on.
- the cabin is thus produced in such a way that it cannot cause an explosion by its interaction with the environment.
- the significant feature of the proposed invention is the use of a closed, portable, ventilated cabin which in its inside creates a space for the operation of the personnel and for the stay of at least one person who does not have to wear personal protective devices inside the cabin.
- cabin denotes any box, spatial construction, which creates a necessary inside space separated by the walls from the outside environment.
- the cabin can have various constructions of walls, it can be a collapsible construction which is composed to the desired shape at the place of its use, or it can be a stable body.
- the inner space for the operation of the personnel needs to have dimensions which are sufficient for the stay of the given number of persons, that is, at least for one person.
- the minimal dimensions of the interior can be set by the sanitary regulations.
- the construction of the cabin has material, functional and safety characteristics which are sufficient to ensure the operation of the personnel.
- the system is formed by a set of a trolley and a cabin.
- the trolley can have various construction and realization according to the prior state of the art; the connection of the trolley with the pressurized, ventilated cabin offers the set of the devices according to this invention new and decisive advantages.
- the set of devices according to this invention produces a system which includes one or multiple remotely controlled trolleys for the work in the explosive environment and it includes portable pressurized house (cabinet, cabin) for the placement of the electric and electromechanic devices which are necessary for the control and power supply of the remote controlled trolley or multiple trolleys, respectively.
- the "set” in this document denotes a system, connection of the cooperating devices and elements. It will be preferable if the construction of the container is used for the creation of a cabin, which achieves excellent transport characteristics of the system. In the preferable arrangement the container will have outer dimensions, shape and parameters corresponding to the transport ISO of the cargo container in the dimension line from 1 DX to 1 AAA.
- the cabin with the outer shape of the container has attaching elements according to the respective ISO standard, too, which allows it to transfer by the container carriers on the road, rail or by air more simply.
- the cabin in the standardized realization of the container allows simple stacking and storing of the set.
- the cabin should be sealed and sufficiently gas-proof, so that the undesirable gases do not permeate the cabin from the outside; total pressure tightness of the cabin is usually not achievable, but the permeation of the gases from the outside can be without any problems prevented by the ventilation which is set as pressurized with the air - without the explosive gases - being supplied from the zone with the clear air and without dangerous explosive gases.
- a particular overpressure of the clear air, relative to the outside environment, is maintained inside the cabin, thanks to which the gas leaks only outside in case of leak; that is, only clear air leaks to the vicinity of the cabin.
- the gas-tightness shall be understood as gas-tightness which is not absolute, but which is sufficient to maintain the necessary overpressure - for example at least 20 - 25 kPa - during the change of the air inside the cabin.
- the loss of the clear air through the leaks in the cabin will not surpass the preset share of the volume of the clear air supplied to the cabin.
- the cabin will have respective ventilation elements, for example outlet elements, openings with the one-way valves or membranes which are set in such a way that both the desired overpressure of the clear air and its change is achieved.
- Each separated part of the cabin can have at least one outlet opening, for example one valve on the outer circumference of the cabin.
- the outlet element (valve, membrane, semi-permeable element and so on) resists the air escaping from the cabin in a preset way and it also prevents the transfer of the gases from the outside environment even in case of the decrease in the overpressure - for example if the ventilation fails.
- the valves are opened by the overpressure of the inner air.
- the valves can have a position sensor which can be part of the inner control system with the pressure sensor inside the cabin.
- the cabin has - apart from the room with the control panel - an ante-room with the door.
- the cabin is then entered in such a way that the first, outer door to the ante- room is opened first, whereby the closing of the second door between the ante-room and the room with the control panel is ensured.
- the first door is closed and clean air is pressed into the ante-room with both door closed.
- the second door is opened and the personnel can enter the room with the control panel.
- the ventilation is set in such a way that the change of the clean air is achieved in a cycle according to respective sanitary regulation for the particular number of the people in personnel.
- clean air has to be understood broadly as denoting any breathable air.
- Clean air can be ensured from various sources. It can be supplied from the source of the pressed air in the vessels which is, however, logistically difficult. It is preferable if a hose is used for intake of the clean air, whereby the suction mouth of the hose leads to the entirely safe zone, for example outside the area with the containers with the petroleum substances.
- the source of the clean air without the explosive gases can have a form of the horizontal, vertical or combined pipeline which leads to the safe space without explosive gases.
- the solution with the horizontal pipeline requires sufficiently long pipeline, which also requires high performance of the ventilator. Long pipeline requires meeting other sanitary demands; the air can overheat in the long pipeline under the influence of solar radiation, it can be biologically contaminated, and so on.
- the clean air will be at least mechanically filtered before being blown to the cabin.
- the clean are can be filtered, washed or variously cleaned, it can be dehumidified or humidified, heated or cooled pursuant to the local conditions of deployment.
- the dimensional limits of the dangerous zones have different parameters in the vertical and horizontal direction, which is relate to the physical feature of the dangerous gases from the hydrocarbons group. These gases have a tendency to spill in the available space, which means that in the horizontal direction they take vast space, but in vertical direction their concentration quickly diminishes.
- the chimney to secure the clean air therefore does not have to reach tens of meters as is usually needed in cases of vertical suction of the clean air. In cases of existing tanks for petroleum products it is sufficient of the chimney is, for example, 6 meters high; in such height the air no longer contains explosive gases.
- the chimney can in active position be placed on the roof of the cabin, which itself is more than two meters above the ground.
- the chimney can be placed on the roof in the place of the intake of the air to the ventilation of the cabin.
- the chimney can be placed on the edge of the roof, within the frame of the roof or in the middle of the roof, too.
- the chimney can be equipped by the lightning conductor.
- the chimney can be composed of multiple parts, for example from two parts, which are in the transport position placed on the roof of the cabin, for example from two parts which are in the portable position placed on the roof of the cabin or container, respectively, or inside the cabin.
- the lower part of the chimney can be connected to the edge of the cabin or container, respectively, by the hinge. After the attachment and sealing of the second part of the chimney the whole chimney is erected to the vertical position, whereby the lower part of the chimney, whereby the lower part of the chimney leans by its cross-section to the suction opening of the ventilation. In this part there can be a sensor of dangerous gases, which signals the eventual failure of the system, leakage, and so on.
- the cabin can have a single room - that is, the room where there is a control panel; usually a control panel includes controls and display monitors.
- the cabin can have an ante-room, and aside from ante-room and the room with the control panel it can also include other spaces; for example, a technical space with the propulsion aggregate of the trolley and so on.
- the set can also include multiple containers. For example, one container will have ante-room, room with the control panel and the respective ventilation device, and the second container will contain machine room with the aggregates for the propulsion of the trolley. Each can come in different construction version.
- the machine room can be part of the pressurized part of the cabin with the clean air, thanks to which the components, elements and devices which do not meet the criteria for operation in the explosive environment can be used in the machine room.
- the machine room will be placed in the container, but in a part of the container which is not gas-proofly separated from the outside environment, this all in order to decrease the requirements on the ventilation; in such case, only components, elements and devices which meet the criteria for operation in the explosive environment will be used in the machine room.
- the container can be equipped by discharging skids on which the trolley is placed in the transport position.
- the trolley can be placed on the skids directly or by means of a pad or a pallet, respectively.
- the trolley can be put down by means of the forklift or pallet stacker or low lifter, or it can be put down manually or by the winch which will be attached on an arm rotationally deposited n the construction of the container.
- These handling aids allow to better use the space in the given part of the container, since they allow placing the elements to the available space more tightly and they also simplify the manipulation with the trolley.
- the container can have a cable reel for reeling and storing of the cable bundle of the wiring which supplies the trolley by power and controls it.
- the basic arrangement involves a cabin with the control panel.
- the common body of the cabin can involve a machine room in the pressurized regime, too.
- the machine room can be placed in the independent pressurized cabin, which is connected to the cabin with the control panel by means of the respective cables and wiring.
- All mentioned arrangements can be supplied by the fact that the body of the cabin with the machine room has a carrier of the trolley, usually in the form of a box, or in a form of an end of the container with the door where the trolley and the respective wiring connecting the trolley with the machine room is placed during its transport to the new place of action.
- the aggregates and controlling elements can be placed in the common machine room or they can be produced for independent machine rooms, for example in the independent containers.
- the primary function of the cabin is to produce entirely safe environment for the service by the control panel, that is, mainly for control, eventually programming of the movement and operation of the trolley, and for the monitoring of the displays displaying various parameters of the system and also displaying the outputs from the cameras of the system.
- the cabin also protects the personnel from the common meteorological conditions. Pursuant to the place of the deployment the cabin can have a filtration of the air, air conditioning and/or heating, which produces an appropriate and comfortable working (and sanitary) space for the personnel. It is preferable if the cabin and its elements are dimensioned for the eight-hour stay of the personnel.
- the cabin does not have to be adjusted for the continuous (for example, a year-long) stay of the personnel, since it is expected that the system is moved after the work is finished.
- the cabin protects the personnel from the rain, wind and so one.
- the personnel have comfortable, safe and appropriate conditions for the service of the control panel in the cabin.
- the cabin is sufficiently lit and it can have a window, too.
- the personnel in the cabin can sit and it can also relax and so on. This brings about not only increase of safety for the personnel and the environment, but also an increase in the comfort of the work.
- the cabin will have a control system which includes at least one sensor of the overpressure in the cabin and the sensor of the opening of the door to the cabin.
- the set of devices in the preferable arrangement includes clean air pressure sensors in each separated part of the cabin - for example, one in the ante-room, one in the control panel room, one in the machine room.
- the ventilation has a sucked air temperature sensor and it can also have an analyzer of the explosive gases in the suction pipeline; preferably, it has an air-flow sensor, too.
- the door has sensors of the opening and they can have a lock, too, which blocks the opening of one door if the second door is closed.
- Such locks will be equipped by the safety switch so that the door can be opened at once in case of the emergency.
- Such control system can be controlled by its own control unit, or it can be controlled by the computer which controls the control of the trolley, too.
- the significant advantage of the proposed invention is the possibility to place the control panel in the vicinity of the deployment of the trolley without the need for long wiring.
- the control panel can be localized, for example, just by the cleaned tank even in the case that there are other tanks with their own dangerous zones in the vicinity.
- the system with the set with the trolley can be used without regard to the character of the propulsion of the trolley.
- the trolley can be, for example, hydraulically propelled by means of pressure hoses which connect the trolley with the aggregate in the container.
- the control panel can have a character of the electronic control panel with the controls and displays where the position of the trolley and the image from the camera on the trolley is shown.
- the set of devices according to this invention can be used with any remotely controlled and/or automatically controlled trolley where the control panel is serviced by humans.
- drawings 1 to 6 The used scale and ratio between the sizes of the walls of the displayed cabin or container, respectively, or between the trolley and the tanks as well as between all other parts of the system or set of devices are not binding; they are informative or they were directly adjusted in order to increase clarity.
- Figure 1 is a view of the system with one container and one trolley placed inside the tank for the petroleum products.
- Inscriptions Z 0, Z 1 , Z 2 depict zones 0 to 2 according to the risk of explosion pursuant to ATEX standard. In the vicinity of the entrance to the tank there is Zone 0.
- Zone CA represents a zone with the clean air.
- Figure 2 is a ground plan of the areal with six circular tanks, where the individual zones of danger of explosion on the terrain level are depicted by different hatching. Zone 0 is by the open tank and also in the vicinity of the opening.
- Figure 3 depicts an example of the separation of the cabin to individual parts.
- the door to the room as well as ante-room is schematically displayed as open, even though in the active state these will not be simultaneously open.
- the door to the back part of the container, where the storage space for the trolley and its wiring has been produced, are depicted as open even during the operation of the system.
- Figure 4 depicts a container with the chimney in the portable position;
- figure 5 depicts the chimney in the active position where it sucks the clean air from the safe zone.
- Figure 6 depicts two containers connected by the cables, where one container is designed for the stay of the personnel, and the second is designer for the placement of the machine room.
- the set according to this example on figures 1 to 5 is designed to remove the sediments and/or sludge in the reservoirs in explosive environment in Zone 0.
- Hydraulically propelled trolley 200 is placed in the reservoir during the operation and it is connected with the control panel 4 and with the hydraulic aggregate by means of the wiring 3.
- the trolley 200 is produced in such a way that it meets all standards for the operation in the explosive environment - it has spark-less moving components, it has protection against overheating and so on.
- Zone 1 In the immediate vicinity of the reservoir there is Zone 1 .
- the reservoir is localized in a group of multiple reservoirs.
- the cabin 100 in this example has an outer shape of a 20-feet 1 CC ISO container.
- the container is divided to four basic parts on its ground plan.
- the first one is an ante-room 6 which has its first door outside, on the front of the container.
- the second door from the ante-room 6 leads to a room 5 with a control panel 4.
- the ante- room's 6 function is to divide the room 5 with the control panel 4 from the outside environment.
- the control panel 4 has controls for the manual control of the movements of the trolley 200; it also has input interface for the programming or entering of the parameters of the operation of the trolley 200, respectively; it has displays to display the position and parameters of the trolley 200 and to display the image from the cameras.
- the room 5 there is a control panel 4 with the controls and display. Clean air is changed in the room 5 by the ventilation, whereby the number of changes of the air in the room 5 per hour can be set pursuant to the number of people in the room 5.
- the ventilation is set in such a way that the overpressure in the room 5 relative to the outside air pressure is in this example 30 kPa.
- the cabin 100 has a collapsible chimney 8 which is in the active position erected from two pipes, where each is two meters long. After the erection the mouth of the chimney 8 reaches a height of approximately 6,5 m, where the zone is CA - there is a clean air even in the case where the cabin 100 is placed in the Zone 1 in the immediate vicinity of the reservoir. Clean air is sucked through the chimney 8 and pushed to the room 5. There is a sufficient height of the ceiling in the room 5 for walking; there are also chairs for the personnel as well as basic working equipment. The personnel control the movement of the trolley 200 either in the fully manual regime or in semi-automatic regime. The image from the cameras in the trolley 200 is transmitted to the room 5.
- the third part of the cabin 100 is a machine room 7 which is in this example pressurized by the clean air in the same way as the room 5.
- a machine room 7 In the machine room 7 there is a hydraulic pressure source, an electric switchboard, a set of electromagnetically controlled valves and other components of the device for the cleaning of the bottom of the reservoir.
- a wall with the door Between the room 5 and the machine room 7 there is a wall with the door; the wall diminishes the transfer of the noise from the aggregates to the room 5 with the personnel.
- the fourth part of the container in this example is a carrier of the trolley 200 in the transport (portable) position. This part is not ventilated by the clean air and the trolley 200 with the wiring 3 is placed in it after its work is finished.
- the whole set is in the portable position contained in a single container which can be transported by any container carrier; it can be stored and stacked.
- the trolley 200 is produced in such a way that it meets the criteria for operation in Zones 0, 1 , 2.
- the cabin 100 meets the criteria for the operation in the Zone 1 , 2.
- the set of devices is therefore capable to operate in various combinations such as: trolley 200 cabin 100
- Zone 2 Zone 2 CA Clean air
- CA clean air
- Set of devices in this example has a cabin 100 which is part of the semi-trailer of the off-road utility vehicle.
- Set of devices in this example has a cabin 100 mounted on the truck with the mechanical arm.
- the cabin 100 is demounted to the vicinity of the tank by means of the mechanical arm.
- Set of devices includes a cabin 100 which is dimensioned for the stay of two to four people from the personnel.
- the room 5 there are control panels 4 for two independent trolleys 200.
- the wirings 3 for two trolleys 200 run out of the machine room 7.
- the advantage of the system hereby manifests itself in that the devices in the machine room 7 do not need to have technical measures for the operation in the dangerous zones; they do not have to have voluminous boxes, seals with the complex transits, etc. They work in the safe environment. Thanks to this they do not occupy large space and there are no problems with cooling.
- the machine room 7 also offers useful space for the service and maintenance; individual aggregates are visible, no confined to the boxes.
- the space of the machine room 7 can be cooled by the air in the same way the room 5 is; it can be also dehumidified or heated.
- Z2 - ZONE 2 - a space where the creation of explosive gas atmosphere is improbable during normal operation; a space where the appearance of the explosive gas atmosphere composed of the mixture of the flammable substances in the form of a gas, steam or fog with the air is improbable in the normal operation and if it appears, it lasts only for a short time;
- CA - clean air space without the danger of the appearance of the explosive gas atmosphere during normal operation; space outside the zones with the risk of explosion.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SG11201804987RA SG11201804987RA (en) | 2015-12-15 | 2016-12-14 | Set of devices with at least one trolley for operation in explosive environment |
EP16836052.7A EP3389882B8 (en) | 2015-12-15 | 2016-12-14 | Set of devices with at least one trolley for operation in explosive environment |
PL16836052.7T PL3389882T3 (en) | 2015-12-15 | 2016-12-14 | Set of devices with at least one trolley for operation in explosive environment |
DK16836052.7T DK3389882T3 (en) | 2015-12-15 | 2016-12-14 | SET OF DEVICES WITH AT LEAST ONE TROLLEY FOR OPERATION IN EXPLOSIVE ENVIRONMENT |
ES16836052T ES2915552T3 (en) | 2015-12-15 | 2016-12-14 | Set of devices with at least one carriage for operation in an explosive environment |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SKPP50084-2015 | 2015-12-15 | ||
SK50084-2015A SK288788B6 (en) | 2015-12-15 | 2015-12-15 | Set of devices with at least one carriage for the operation in explosive area |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017103815A1 true WO2017103815A1 (en) | 2017-06-22 |
Family
ID=58010117
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2016/057621 WO2017103815A1 (en) | 2015-12-15 | 2016-12-14 | Set of devices with at least one trolley for operation in explosive environment |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP3389882B8 (en) |
DK (1) | DK3389882T3 (en) |
ES (1) | ES2915552T3 (en) |
PL (1) | PL3389882T3 (en) |
SG (2) | SG10202005396RA (en) |
SK (1) | SK288788B6 (en) |
WO (1) | WO2017103815A1 (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4770711A (en) * | 1984-08-24 | 1988-09-13 | Petroleum Fermentations N.V. | Method for cleaning chemical sludge deposits of oil storage tanks |
US4817653A (en) * | 1988-01-22 | 1989-04-04 | Serv-Tech, Inc. | Tank cleaning, water washing robot |
US5561883A (en) * | 1994-09-15 | 1996-10-08 | Landry; Kenneth C. | Tank cleaning system using remotely controlled robotic vehicle |
WO2008107005A1 (en) * | 2007-03-02 | 2008-09-12 | Shae S.R.L. | Unit for installing apparatuses in general in areas with a dangerous atmosphere |
WO2012150541A2 (en) * | 2011-05-01 | 2012-11-08 | Adroc Tech S.R.O. | A device for movement and action in explosive environment |
GB2491974A (en) * | 2011-06-15 | 2012-12-19 | Marshall Specialist Vehicles Ltd | A building module for a modular forensic laboratory. |
DE102011104295A1 (en) * | 2011-06-16 | 2012-12-20 | B+M Surface Systems Gmbh | Mobile device for controlling and/or programming of handling device e.g. painting robot, has overpressure casing which is provided for maintaining overpressure of sweep gas supplied from supply conduct |
-
2015
- 2015-12-15 SK SK50084-2015A patent/SK288788B6/en unknown
-
2016
- 2016-12-14 DK DK16836052.7T patent/DK3389882T3/en active
- 2016-12-14 EP EP16836052.7A patent/EP3389882B8/en active Active
- 2016-12-14 WO PCT/IB2016/057621 patent/WO2017103815A1/en active Application Filing
- 2016-12-14 SG SG10202005396RA patent/SG10202005396RA/en unknown
- 2016-12-14 SG SG11201804987RA patent/SG11201804987RA/en unknown
- 2016-12-14 PL PL16836052.7T patent/PL3389882T3/en unknown
- 2016-12-14 ES ES16836052T patent/ES2915552T3/en active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4770711A (en) * | 1984-08-24 | 1988-09-13 | Petroleum Fermentations N.V. | Method for cleaning chemical sludge deposits of oil storage tanks |
US4817653A (en) * | 1988-01-22 | 1989-04-04 | Serv-Tech, Inc. | Tank cleaning, water washing robot |
US5561883A (en) * | 1994-09-15 | 1996-10-08 | Landry; Kenneth C. | Tank cleaning system using remotely controlled robotic vehicle |
WO2008107005A1 (en) * | 2007-03-02 | 2008-09-12 | Shae S.R.L. | Unit for installing apparatuses in general in areas with a dangerous atmosphere |
WO2012150541A2 (en) * | 2011-05-01 | 2012-11-08 | Adroc Tech S.R.O. | A device for movement and action in explosive environment |
GB2491974A (en) * | 2011-06-15 | 2012-12-19 | Marshall Specialist Vehicles Ltd | A building module for a modular forensic laboratory. |
DE102011104295A1 (en) * | 2011-06-16 | 2012-12-20 | B+M Surface Systems Gmbh | Mobile device for controlling and/or programming of handling device e.g. painting robot, has overpressure casing which is provided for maintaining overpressure of sweep gas supplied from supply conduct |
Also Published As
Publication number | Publication date |
---|---|
SK288788B6 (en) | 2020-11-03 |
DK3389882T3 (en) | 2022-05-30 |
SG11201804987RA (en) | 2018-07-30 |
EP3389882B1 (en) | 2022-03-16 |
EP3389882B8 (en) | 2022-04-20 |
SG10202005396RA (en) | 2020-07-29 |
ES2915552T3 (en) | 2022-06-23 |
PL3389882T3 (en) | 2022-08-01 |
EP3389882A1 (en) | 2018-10-24 |
SK500842015A3 (en) | 2017-07-03 |
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