WO2017161592A1 - 油罐的改造方法 - Google Patents

油罐的改造方法 Download PDF

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Publication number
WO2017161592A1
WO2017161592A1 PCT/CN2016/077517 CN2016077517W WO2017161592A1 WO 2017161592 A1 WO2017161592 A1 WO 2017161592A1 CN 2016077517 W CN2016077517 W CN 2016077517W WO 2017161592 A1 WO2017161592 A1 WO 2017161592A1
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WO
WIPO (PCT)
Prior art keywords
tank
explosion
current
oil tank
proof
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PCT/CN2016/077517
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English (en)
French (fr)
Inventor
马晓东
魏东金
Original Assignee
深圳市百事达卓越科技股份有限公司
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Publication of WO2017161592A1 publication Critical patent/WO2017161592A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks

Definitions

  • the present application relates to the field of oil tank processing technology, and in particular, to a method for reforming an oil tank.
  • the present application aims to solve at least one of the above technical problems to some extent.
  • the present application provides a method for modifying a tank, comprising:
  • the current explosion-proof robot performs internal modification of the oil tank through the working path under the guidance of the working program.
  • the working program corresponds to at least two transformation processing steps
  • the working path includes: at least two main paths and conversion paths corresponding to the transformation processing operation
  • the current explosion-proof robot is in the Under the guidance of the working program
  • the internal transformation of the oil tank through the working path specifically includes:
  • the current explosion-proof robot performs a current transformation process on the oil tank through the current main path under the guidance of the working program
  • the current explosion-proof robot is converted from the current transformation processing state corresponding to the current transformation processing procedure to the next transformation processing state by the current conversion path under the guidance of the working program;
  • the current explosion-proof robot performs a next modification process on the oil tank while passing the next main path under the guidance of the working program.
  • the process of cleaning the residual oil outside the tank, the process of opening the manhole cover, the process of opening the manhole cover and removing the volatile volatiles, the process of removing the rust and cleaning the can, the process of cutting the support in the tank, the process of grinding the cutting surface, the drying tank Body process, pre-tensioning support tank process, welding support process, can inner surface spraying process, structural component bonding process, molding maintenance process, accompanying quality inspection process and tank 3D mapping and positioning process.
  • the method for modifying the oil tank further includes:
  • the current explosion-proof robot interacts with other explosion-proof robots and/or personnel through an interaction module to match the operation.
  • the present application further provides a method for modifying an oil tank, the method for modifying the oil tank is based on an explosion-proof robot for modifying an oil tank, the explosion-proof robot comprising: a controller, and a The transmission component connected to the controller; and the actuator connected to the transmission component and the controller respectively, the modification method of the oil tank comprises:
  • the transmission member drives the actuator through the working path under the control of the controller, and the oil tank is internally modified when the actuator passes through the working path.
  • the transmission member is quickly assembled with the actuator by a quick change device, and when the working program corresponds to at least two modification processing steps, and the working path includes: corresponding to the transformation processing step
  • the transmission member drives the actuator through the working path under the control of the controller, and the oil tank is internally modified when the actuator passes the working path Specifically include:
  • the controller controls the movement of the transmission member under the guidance of the working program to perform a current transformation processing procedure on the oil tank when the current execution member passes the current main path;
  • the controller controls the transmission member to be operated under the guidance of the working program, and replaces the current execution member on the quick change device with the current conversion path.
  • the controller under the guidance of the working program, controls the transmission member to perform the next modification processing procedure on the oil tank when the next actuator passes the next main path.
  • the explosion-proof robot includes some or all of the following execution parts: a tank-removing residual oil component, a manhole cover plate assembly, a manhole cover plate, a ventilation, a blasting volatile component, a rust removal and a cleaning tank Inner component, cutting can inner support component, sanding cutting face component, dry can body assembly, pre-tensioning support can body assembly, welding support component assembly, can inner surface coating assembly, structural component fitting component, molding maintenance component, accompanying Quality inspection components and tank 3D mapping positioning components,
  • the working program corresponds to some or all of the following cleaning processes: the process of cleaning the residual oil outside the tank, the process of opening the manhole cover, the process of opening the manhole cover, the process of removing the volatiles, and the rust removal.
  • Cleaning tank process, cutting tank support process, grinding cutting surface process, drying tank process, pre-tensioning support tank process, welding support process, tank inner surface spraying process, structural component bonding process, molding maintenance process With the quality inspection process and tank 3D mapping and positioning process.
  • the explosion-proof robot further includes:
  • An interaction module connected to the controller for interacting with other explosion-proof robots and/or personnel to match the operation
  • the method for reforming the oil tank further includes:
  • the current explosion-proof robot interacts with other explosion-proof robots and/or personnel through an interaction module to match the operation.
  • the explosion-proof robot is an explosion-proof multi-joint snake robot or an explosion-proof crawling robot.
  • the explosion-proof robot is assembled in a tower structure having an active cavity for the explosion-proof robot to move.
  • the explosion-proof robot may correspondingly omit the corresponding actuator replacement path.
  • a method for modifying a tank comprising: presetting a working program of a current explosion-proof robot that internally remodels the current tank, the working program corresponding to a working path of the current explosion-proof robot; the current explosion-proof robot
  • the oil tank is internally modified by the working path under the guidance of the working program.
  • FIG. 1 is a schematic flow chart of a method for reforming an oil tank according to an embodiment of the present application.
  • FIG. 2 is one of the schematic diagrams of the explosion-proof robot of the embodiment of the present application after it has not entered the tank or emerged from the oil tank.
  • FIG. 3 is a second schematic view of the explosion-proof robot of the embodiment of the present application after it has not entered the tank or emerged from the oil tank.
  • FIG. 4 is one of the schematic diagrams of the explosion-proof robot of the embodiment of the present application when it is basically 1/4 into the tank.
  • FIG. 5 is a second schematic diagram of the situation in which the explosion-proof robot of the embodiment of the present application is basically 1/4 into the tank.
  • FIG. 6 is a schematic diagram of the situation in which the explosion-proof robot of the embodiment of the present application is basically 3/4 when entering the tank.
  • FIG. 7 is a second schematic diagram of the situation in which the explosion-proof robot of the embodiment of the present application is basically 3/4 when entering the tank.
  • FIG. 8 is one of the schematic diagrams of the explosion-proof robot of the embodiment of the present application when it is substantially fully inserted into the can and fully extended.
  • FIG. 9 is a second schematic view of the explosion-proof robot of the embodiment of the present application when it is substantially fully inserted into the can and fully extended.
  • FIG. 10 is one of the schematic diagrams of the explosion-proof robot of the embodiment of the present application when it is substantially fully inserted into the can and folded.
  • FIG. 11 is a second schematic view of the explosion-proof robot according to the embodiment of the present application when the explosion-proof robot is substantially fully inserted into the can.
  • FIG. 12 is a schematic structural view of an explosion-proof robot according to an embodiment of the present application.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” and “second” may include one or more of the features either explicitly or implicitly.
  • the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
  • the terms “installation”, “connected”, “connected”, “fixed” and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or connected integrally; may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • installation shall be understood broadly, and may be either a fixed connection or a detachable connection, unless otherwise explicitly stated and defined. , or connected integrally; may be mechanical connection or electrical connection; may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • the specific meanings of the above terms in the present application can be understood on a case-by-case basis.
  • the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
  • the first feature “above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely the first feature level being less than the second feature.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the embodiment provides a method for reforming an oil tank, which mainly implements a non-excavation type modification for a buried oil tank, and the method for modifying the oil tank includes a cleaning method of the oil tank.
  • the explosion-proof robot Presetting the working program of the current explosion-proof robot for internally modifying the current tank, and the working program corresponds to the working path of the current explosion-proof robot. Specifically, the explosion-proof robot performs corresponding actions based on the working program in the controller, for example, Completely complete the entire process of internal modification of the current tank, or interact with personnel to semi-actively complete all the internal modifications of the current tank, or interact with other explosion-proof robots to fully implement the current tank. Carry out all the procedures for internal transformation. In order to complete the internal modification of the oil tank, the actuator of the explosion-proof robot needs to be moved to the position of the tank to be treated.
  • the working program corresponds to the working path of the explosion-proof robot, when the explosion-proof robot When the actuator is moved to the to-be-processed position of the oil tank according to the working path, it can be processed at the to-be-processed position;
  • the process of cleaning the residual oil outside the tank, the process of opening the manhole cover, the process of opening the manhole cover and removing the volatile volatiles, the process of removing the rust and cleaning the can, the process of cutting the support in the tank, the process of grinding the cutting surface, the drying tank Body process, pre-tensioning support tank process, welding support process, can inner surface spraying process, structural component bonding process, molding maintenance process, accompanying quality inspection process, tank 3D mapping and positioning process.
  • tank cleaning residual oil process there are corresponding tank cleaning residual oil process, opening manhole cover process, opening manhole cover after ventilation, removing explosive volatiles, derusting and cleaning the in-can process, and drying.
  • the tank can be cleaned in the tank process.
  • the working program corresponds to the cutting can inner support process, the grinding cutting surface process, the pre-tensioning support can process, and the welding support process in the above various reforming processes, it may be necessary to pre-treat the oil tank to perform The above-mentioned operations, or subsequent tank inner surface spraying process, structural member bonding process, molding maintenance process, accompanying quality inspection process, tank 3D mapping and positioning process, etc.
  • the current explosion-proof robot is internally modified by the working path under the guidance of the working program. Specifically, when the explosion-proof robot performs internal transformation on the oil tank, it needs to pass a number of transformation processing procedures, which can be defined by a work program, and usually, the execution components of the explosion-proof robot are different for different transformation treatment processes. A corresponding modification process is performed by a certain type of actuator. When it is necessary to replace the actuator, there are at least two cases. First, when the explosion-proof robot comes with an integrated or semi-integrated actuator, the explosion-proof robot directly performs the actuator conversion at the current stop position; second, the tool holder is designed separately. And externally, the explosion-proof robot needs to replace the actuator with the conversion path. Explosion-proof robot actuators can be designed according to actual needs. The actuators can be replaced by quick-change devices. They can also be designed as integrated structures. The actuators can be replaced by controlled telescopic or changing angles. structure.
  • the embodiment further provides a tank cleaning/reforming workstation, including an explosion-proof robot 1 for cleaning or modifying the oil tank 3, and a tower structure 2, an explosion-proof robot.
  • 1 is a snake-shaped explosion-proof robot, and the snake-shaped explosion-proof robot 1 is assembled in the tower structure 2, and the tower structure 2 has an active cavity for the movement of the snake-shaped explosion-proof robot 1.
  • the tower structure 2 includes: a tower 21; a winch 22 mounted on the tower 21 for driving the serpentine explosion-proof robot 1 to move along the movable cavity, and a near oil tank 3 assembled to the tower 21. Hydraulic support seat 23 on the side.
  • the explosion-proof robot 1 includes a controller 11 for presetting a working program for internally cleaning or modifying the current oil tank 3 and corresponding to the working path of the explosion-proof robot 1, and an actuator connected to the controller 11. 12; and a transmission member 13 connected to the controller 11 for internally cleaning or modifying the oil tank 3 when the actuator 12 is driven through the working path under the control of the controller 11.
  • the controller 11 can be an industrial computer, a PLC, a single chip microcomputer or an MCU, etc.
  • the transmission member 13 can adopt a multi-axis mechanical arm, for example, a 5-axis, a 6-axis, an 8-axis, a 9-axis mechanical arm, a length and a number of the mechanical arm, and the like.
  • the actuator 12 may adopt some or all of the following components according to the requirements of cleaning or modifying the tank: cleaning the residual oil component outside the tank, opening the manhole cover assembly, opening the cover After ventilation, in addition to explosive volatile components, rust removal and cleaning tank components, drying tank components, tank inner surface spraying assembly, cover fitting assembly, molding maintenance assembly, quality inspection assembly, cutting can support assembly, polishing Cutting surface assembly, pre-tensioning support tank assembly, welding support assembly, tank 3D mapping and positioning assembly, specifically, cleaning the residual oil component outside the tank and derusting and cleaning the tank assembly can be explosion-proof high-pressure water gun and explosion-proof type
  • the suction pump, the manhole cover assembly can be a mechanical claw with an adaptive explosion-proof pneumatic or electric wrench, and the manhole cover is ventilated except for the explosive volatile component, which can be a blowing device or a suction device, and the drying can assembly It can be a heating air pump or a high-energy spotlight.
  • the inner surface spraying component of the tank can be a paint spray gun or a roller.
  • the structural component fitting component can be an adaptive pressing device.
  • the support component in the cutting can is a water jet, and the grinding cutting surface component can be
  • the tank 3D mapping positioning component is a 3D scanner with a GPS module.
  • the controller 11 can perform centralized or distributed control and interactive fit control of the transmission member 13 and the actuator 12.
  • an explosion-proof robot for cleaning the oil tank can be formed: the residual oil component is cleaned outside the tank, the manhole cover assembly is opened, and the explosive volatile component is ventilated after the cover is opened, Derust and clean the in-tank components and dry tank components.
  • the tank can be pre-treated to achieve the cleaning or modification of the tank: the support member in the cutting tank, the grinding cutting surface assembly, the pre-tensioning support tank Body assembly and welding support assembly, tank 3D mapping positioning assembly.
  • actuators 12 can be directly integrated into the end of the transmission to form an integrated design.
  • the cleaning or reforming method of the tank 3 specifically includes:
  • the transmission member 13 drives the actuator 12 through the working path under the control of the controller 11, and the internal cleaning or modification of the oil tank 3 is performed when the actuator 12 passes through the working path.
  • explosion-proof robotic workstations instead of human professional operations can not only save a lot of labor, but also greatly improve work efficiency, greatly shorten the construction period, and greatly reduce the loss of gas station shutdowns.
  • use explosion-proof robotic workstations instead of humans The method of can operation can also effectively avoid the harm of occupational diseases to human beings, and fundamentally avoid personal pain, family burden and medical burden; once again, the use of explosion-proof robotic workstations instead of human professional operations can save a lot of human labor insurance costs. Allowing countries to allocate relevant resources more rationally.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the working path includes: at least two main paths and conversion paths corresponding to the transformation processing step
  • the current explosion-proof robot 1 guides the oil through the working path under the guidance of the working program.
  • the internal cleaning or modification of the tank 3 specifically includes:
  • the current explosion-proof robot 1 performs the current cleaning or modification process on the oil tank through the current main path under the guidance of the working program;
  • the current explosion-proof robot 1 is switched from the current cleaning or modification processing state corresponding to the current cleaning or modification processing process to the next cleaning or modification processing state by the current conversion path under the guidance of the working program. Specifically, the explosion-proof robot needs to replace the actuator with the conversion path, hold the current actuator for the current cleaning or modification process, and the current cleaning or modification process state, holding the next actuator for the next cleaning or modification process. a cleaning or retrofitting state;
  • the current explosion-proof robot 1 performs the next cleaning or modification process on the oil tank while passing the next main path under the guidance of the work program.
  • the tank cleaning/reforming station further comprises: a tool holder 24 for holding the actuator 12, the tool holder 24 being external to the explosion-proof robot 1.
  • the transmission member 13 is quickly exchanged with the actuator 12 by the quick change device 14.
  • the cleaning or reforming method of the tank 3 specifically includes:
  • the working path includes:
  • the transmission member 13 drives the actuator 12 through the working path under the control of the controller 11, and the internal cleaning or modification of the oil tank 3 is performed when the actuator 12 passes the working path.
  • the controller 11 controls the action of the transmission member 13 under the guidance of the working program to perform the current cleaning or modification processing procedure on the oil tank 3 when the current actuator 12 passes the current main path;
  • the controller 11 controls the transmission member 13 to operate under the guidance of the work program, and replaces the current actuator 12 on the quick change device 14 with the next actuator 12 through the current conversion path. Converting from the current cleaning or retrofitting processing state corresponding to the current cleaning or retrofitting processing process to the next cleaning or retrofitting processing state;
  • the controller 11 controls the transmission member 13 to operate under the guidance of the work program to perform the next cleaning or modification process on the oil tank 3 when the next actuator 12 passes the next main path.
  • the controller 11 directly drives the actuator 12 to complete the actuator conversion process in situ under the guidance of the working program, and other aspects are the same as the explosion-proof robot with the external structure of the tool holder.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the cleaning or reforming method of the oil tank 3 of the embodiment further includes:
  • the current explosion-proof robot 3 interacts with other explosion-proof robots and/or personnel through an interactive module to match the work.
  • the explosion-proof robot 3 can be flexibly matched with an explosion-proof robot of a human or another workstation according to actual conditions.
  • the tank cleaning/reforming station in this embodiment includes at least two explosion-proof robots 1 or at least one explosion-proof robot and one person.
  • the explosion-proof robot 1 of this embodiment further includes an interaction module connected to the controller 11 for interacting with other explosion-proof robots and/or personnel to match the operation.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the explosion-proof robot 1 employs a crawling explosion-proof robot.
  • the serpentine-shaped explosion-proof robot is more reliable than other types of explosion-proof robots because the snake-shaped explosion-proof robot passes
  • the tower structure works in a suspended manner and does not touch the inner wall of the tank, so that the explosion-proof robot ensures cleaning.
  • the oil tank cleaning/reforming workstation in the embodiments of the present application is exemplified below with reference to FIGS. 2-11. Robot and corresponding tank cleaning or modification methods.
  • the snake-shaped explosion-proof robot does not enter or exit the tank.
  • the snake-shaped explosion-proof robot is basically a quarter of the tank.
  • the snake-shaped explosion-proof robot is basically 3/4 when entering the tank.
  • the snake-shaped explosion-proof robot is basically fully loaded and fully extended.
  • the snake-shaped explosion-proof robot is basically a case where it is fully inserted into the can and folded.
  • the workstation is put down in the tank area, and the power-on self-test is ready to accept the start signal;
  • the workstation locates and approaches the target tank according to manual instructions or preset artificial intelligence
  • the workstation selects the corresponding work piece preparation work according to the manual instruction or the preset artificial intelligence
  • the workstation extends the transmission member with the corresponding work execution member into the interior of the tank according to the manual instruction or the preset artificial intelligence;
  • the workstation completes the preset job according to the manual instruction or the preset artificial intelligence sequence
  • the workstation automatically retracts and returns to the original departure position to wait for the recovery transition after completing the operation according to the manual instruction or the preset artificial intelligence.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

一种油罐的改造方法，包括：预设定对当前油罐（3）进行内部改造的当前防爆机器人（1）的工作程式，所述工作程式对应于所述当前防爆机器人的工作路径；所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造。这样，使用防爆机器人工作站替代人类专业人员作业的方法不但可以大量的节约人工，更可以大幅度提高工作效率，大幅度缩短工期，大幅度减少加油站的停业损失；同时使用防爆机器人工作站替代人类进罐作业的方法也可以有效避免职业病对人类的伤害，从根本上避免了个人病痛、家庭负担以及医疗包袱。

Description

油罐的改造方法 技术领域
本申请涉及油罐处理技术领域，尤其涉及一种油罐的改造方法。
背景技术
中国有10万多座加油站，共约50万个埋地油罐，油罐部分集中埋设于90年代初，距今已有约10-30年。钢制单层油罐使用寿命大约为25-35年，这意味着中国将会出现大面积的油罐腐蚀滲漏，污染地下水与土壤，因此国务院要求在2017年前完成加油站油罐的防渗改造，但依照现有人工开挖的方法改造油罐，估计需要10数年时间来完成这个庞大的工程，这期间不但需要消耗大量的人力、物力、时间，并且会形成相关法律与现实情况难以调和的实际矛盾，诸如城市内绝大部分加油站一旦开挖，相关的环保与安全法律法规将不再允许油罐再次埋下去，如此便意味着城市内以后基本不存在加油站，这显然是一个很尴尬荒谬的结果，若采用非开挖改造埋地油罐的技术，则可以较为完美的解决这个问题。
然而，使用过的油罐在处理过程中作业条件极为恶劣危险，有足够知识胜任的不愿意干这份工作，而缺乏知识的又难以胜任，导致合格的专业人员极度缺乏，而这必将导致一系列的问题，例如工期的延长、本来可避免事故的发生、质量隐患、从业者职业病的潜在伤害等。
发明内容
本申请旨在至少在一定程度上解决上述技术问题之一。
根据本申请的第一方面，本申请提供一种油罐的改造方法，包括：
预设定对当前油罐进行内部改造的当前防爆机器人的工作程式，所述工作程式对应于所述当前防爆机器人的工作路径；
所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造。
进一步的，当所述工作程式对应有至少两个改造处理工序，且所述工作路径包括：与所述改造处理工序对应的至少两个主路径及转换路径时，所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造具体包括：
所述当前防爆机器人在所述工作程式引导下，通过当前主路径时对所述油罐执行当前改造处理工序；
在完成所述当前改造处理工序后，所述当前防爆机器人在所述工作程式引导下，通过当前转换路径从所述当前改造处理工序对应的当前改造处理状态转换为下一改造处理状态；
所述当前防爆机器人在所述工作程式引导下，通过下一主路径时对所述油罐执行下一改造处理工序。
进一步的，所述工作程式对应有如下改造处理工序中的部分或全部：
罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、切割罐内支撑件工序、打磨切割面工序、干燥罐体工序、预涨紧支撑罐体工序、焊接支撑件工序、罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序及罐体3D测绘定位工序。
进一步的，所述油罐的改造方法还包括：
所述当前防爆机器人通过交互模块与其它防爆机器人和/或人员进行交互以搭配作业。
根据本申请的第二方面，本申请还提供一种油罐的改造方法，所述油罐的改造方法基于一种用于改造油罐的防爆机器人，所述防爆机器人包括：控制器、与所述控制器相连的传动件；以及，分别与所述传动件及所述控制器相连的执行件，所述油罐的改造方法包括：
对所述控制器预设定对当前油罐进行内部改造的工作程式，所述工作程式对应于所述防爆机器人的工作路径并引导所述控制器进行对应控制；
所述传动件在所述控制器控制下带动所述执行件通过所述工作路径，所述执行件通过所述工作路径时对所述油罐实施内部改造。
进一步的，所述传动件通过快换装置与所述执行件快换式装配，当所述工作程式对应有至少两个改造处理工序，且所述工作路径包括：与所述改造处理工序对应的至少两个主路径及转换路径时，所述传动件在所述控制器控制下带动所述执行件通过所述工作路径，所述执行件通过所述工作路径时对所述油罐实施内部改造具体包括：
所述控制器在所述工作程式引导下，控制所述传动件动作，使当前执行件通过当前主路径时对所述油罐执行当前改造处理工序；
在完成所述当前改造处理工序后，所述控制器在所述工作程式引导下，控制所述传动件动作，通过当前转换路径将所述快换装置上的所述当前执行件替换为下一执行件；
所述控制器在所述工作程式引导下，控制所述传动件动作，使所述下一执行件通过下一主路径时对所述油罐执行下一改造处理工序。
进一步的，所述防爆机器人包括有如下部分或全部的执行件：罐外清理残油组件、开人孔盖板组件、开人孔盖板后通风除易爆挥发物组件、除锈并清洗罐内组件、切割罐内支撑件组件、打磨切割面组件、干燥罐体组件、预涨紧支撑罐体组件、焊接支撑件组件、罐内表面喷涂组件、结构件贴合组件、成型养护组件、伴随质检组件及罐体3D测绘定位组件，
相应的，所述工作程式对应有如下清洗处理工序中的部分或全部：罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、切割罐内支撑件工序、打磨切割面工序、干燥罐体工序、预涨紧支撑罐体工序、焊接支撑件工序、罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序及罐体3D测绘定位工序。
进一步的，所述防爆机器人还包括：
与所述控制器相连的交互模组，用于与其他防爆机器人和/或人员进行交互以搭配作业，
所述油罐的改造方法还包括：
所述当前防爆机器人通过交互模块与其它防爆机器人和/或人员进行交互以搭配作业。
进一步的，所述防爆机器人为防爆多关节蛇形机器人或防爆爬行机器人。
进一步的，所述防爆机器人装配于一塔式结构内，所述塔式结构具有供所述防爆机器人活动的活动腔。
进一步的，当所属机器人执行件采用集成式或混合式设计时，所述防爆机器人可对应省略对应执行件更换路径。
本申请的有益效果是：
通过提供一种油罐的改造方法，包括：预设定对当前油罐进行内部改造的当前防爆机器人的工作程式，所述工作程式对应于所述当前防爆机器人的工作路径；所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造。这样，使用防爆机器人工作站替代人类专业人员作业的方法不但可以大量的节约人工，更可以大幅度提高工作效率，大幅度缩短工期，大幅度减少加油站的停业损失；同时使用防爆机器人工作站替代人类进罐作业的方法也可以有效避免职业病对人类的伤害，从根本上避免了个人病痛、家庭 负担以及医疗包袱；再次，使用防爆机器人工作站替代人类专业人员作业的方法还可以节约大量的人类劳保费用，使国家可以更加合理的分配相关资源；最后，通过罐体3D数据及位置采集，不但可以系统性的获知罐体数据建立完整技术档案，还可以直接获得精确罐体容积表以及相关加油站大数据提供给国家做相关调研资料。
附图说明
图1为本申请实施例的油罐的改造方法的流程示意图。
图2为本申请实施例的防爆机器人未入罐或从油罐中出来后的情形示意图之一。
图3为本申请实施例的防爆机器人未入罐或从油罐中出来后的情形示意图之二。
图4为本申请实施例的防爆机器人基本是1/4入罐时的情形示意图之一。
图5为本申请实施例的防爆机器人基本是1/4入罐时的情形示意图之二。
图6为本申请实施例的防爆机器人基本是3/4入罐时的情形示意图之一。
图7为本申请实施例的防爆机器人基本是3/4入罐时的情形示意图之二。
图8为本申请实施例的防爆机器人基本是全入罐且完全伸展时的情形示意图之一。
图9为本申请实施例的防爆机器人基本是全入罐且完全伸展时的情形示意图之二。
图10为本申请实施例的防爆机器人基本是全入罐且折叠时的情形示意图之一。
图11为本申请实施例的防爆机器人基本是全入罐且折叠时的情形示意图之二。
图12为本申请实施例的防爆机器人的结构示意图。
具体实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、 “底”“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下面通过具体实施方式结合附图对本申请作进一步详细说明。
实施例一：
本实施例提供了一种油罐的改造方法，主要针对埋地油罐实现不开挖式改造，且该油罐的改造方法中包含了油罐的清洗方法。
上述油罐的改造方法包括如图1所示的流程：
101，预设定对当前油罐进行内部改造的当前防爆机器人的工作程式，工作程式对应于当前防爆机器人的工作路径，具体的，防爆机器人基于其控制器内的工作程式执行对应的动作，例如，完全主动式完成对当前油罐进行内部改造的全部工序，或者，与人员交互半主动式完成对当前油罐进行内部改造的全部工序，或者与其他防爆机器人交互全主动式完成对当前油罐进行内部改造的全部工序等。为了完成对油罐的内部改造，防爆机器人的执行件需要移动到油罐的待处理位置，因此，工作程式对应有防爆机器人的工作路径，当防爆机器人 的执行件依照工作路径移动到油罐的待处理位置时，即可在该待处理位置进行处理；
工作程式对应有如下改造处理工序中的部分或全部：
罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、切割罐内支撑件工序、打磨切割面工序、干燥罐体工序、预涨紧支撑罐体工序、焊接支撑件工序、罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序、罐体3D测绘定位工序。
当工作程式中对应有上述各改造处理工序中的罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、干燥罐体工序时，即可完成对油罐的清洗。而当工作程式中对应有上述各改造处理工序中的切割罐内支撑件工序、打磨切割面工序、预涨紧支撑罐体工序及焊接支撑件工序时，可能需要对油罐进行预处理才能执行上述作业，或后续罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序、罐体3D测绘定位工序等改造处理。
102，当前防爆机器人在工作程式引导下，通过工作路径对油罐实施内部改造。具体的，防爆机器人在对油罐实施内部改造时，需要通过若干改造处理工序，这些改造处理工序可通过工作程式进行定义，而通常，对于不同的改造处理工序，防爆机器人的执行件不相同，由某一类型执行件执行对应的改造处理工序。当需要替换执行件时，涉及至少两种情况，其一，防爆机器人自带集成式或半集成式执行组件时，防爆机器人直接在当前停留位置完成执行件转换；其二，工具座分体设计并外置，防爆机器人则需要通过转换路径替换执行件。防爆机器人执行件根据实际需求可设计成分体式结构，通过快换装置完成执行件更换，也可以设计成集成式结构，通过可控伸缩或变换角度更换执行件，也可以采用两种方式混合的设计结构。
相应的，如图2-11所示，本实施例还提供了一种油罐清洗/改造工作站，包括一个用于清洗或改造油罐3的防爆机器人1，以及一塔式结构2，防爆机器人1为蛇形防爆机器人，蛇形防爆机器人1装配于塔式结构2内，塔式结构2具有供蛇形防爆机器人1活动的活动腔。
其中，所述塔式结构2包括：塔架21；装配于塔架21上、用于带动蛇形防爆机器人1沿活动腔移动的绞盘22，以及，装配于塔架21的近油罐3两侧的液压支撑座23。
如图12所示，防爆机器人1包括：用于预设定对当前油罐3进行内部清洗或改造并对应有防爆机器人1工作路径的工作程式的控制器11；与控制器11相连的执行件12；以及，与控制器11相连的、用于在控制器11控制下带动执行件12通过工作路径时对油罐3实施内部清洗或改造的传动件13。具体的，控制器11可采用工控电脑、PLC、单片机或MCU等，传动件13可采用多轴机械臂，例如5轴、6轴、8轴、9轴机械臂，机械臂长度和数量等可依据需要清洗或改造油罐3的尺寸来设计，执行件12可根据清洗或改造油罐的要求，采用如下组件中的部分或全部：罐外清理残油组件、开人孔盖组件、开盖后通风除易爆挥发物组件、除锈并清洗罐内组件、干燥罐体组件、罐内表面喷涂组件、覆盖件贴合组件、成型养护组件、质检组件、切割罐内支撑件组件、打磨切割面组件、预涨紧支撑罐体组件、焊接支撑件组件、罐体3D测绘定位组件，具体的，罐外清理残油组件及除锈并清洗罐内组件可为防爆型高压水枪及防爆型吸水泵，开人孔盖组件可为带有自适应防爆气动或电动扳手的机械爪，开人孔盖板后通风除易爆挥发物组件可为吹风装置或抽风装置，干燥罐体组件可为加热风泵或高能射灯，罐内表面喷涂组件可为涂料喷枪或滚筒，结构件贴合组件可为自适应压贴装置，切割罐内支撑件组件为水刀，打磨切割面组件可为湿式角磨机、罐体3D测绘定位组件为带有GPS模组的3D扫描仪等。当然，需要额外说明的是，防爆机器人1在实现时可同时集成工业视觉系统及植入人工逻辑、多路避碰系统及伴随检测仪器等实现防爆机器人1的人工智能控制。控制器11可对传动件13及执行件12进行集中式控制或分布式控制以及交互式配合控制。
当执行件12采用如下组件中的部分或全部时，即可形成用于清洗油罐的防爆机器人：罐外清理残油组件、开人孔盖组件、开盖后通风除易爆挥发物组件、除锈并清洗罐内组件及干燥罐体组件。而当执行件12采用有如下组件中的部分或全部时，即可对油罐进行预处理才能实现油罐的清洗或改造：切割罐内支撑件组件、打磨切割面组件、预涨紧支撑罐体组件及焊接支撑件组件、罐体3D测绘定位组件。
不同类型的执行件12可直接集成式设计安装在传动件末端，从而形成集成式设计。
相应的，当采用上述油罐清洗/改造工作站时，油罐3的清洗或改造方法具体包括：
对控制器11预设定对当前油罐3进行内部清洗或改造的工作程式，工作程 式对应于防爆机器人1的工作路径并引导控制器11进行对应控制；
传动件13在控制器11控制下带动执行件12通过工作路径，执行件12通过工作路径时对油罐3实施内部清洗或改造。
这样，使用防爆机器人工作站替代人类专业人员作业的方法不但可以大量的节约人工，更可以大幅度提高工作效率，大幅度缩短工期，大幅度减少加油站的停业损失；同时使用防爆机器人工作站替代人类进罐作业的方法也可以有效避免职业病对人类的伤害，从根本上避免了个人病痛、家庭负担以及医疗包袱；再次，使用防爆机器人工作站替代人类专业人员作业的方法还可以节约大量的人类劳保费用，使国家可以更加合理的分配相关资源。
实施例二：
本实施例与上述实施例区别主要在于：
本实施例的油罐3的清洗或改造方法中，在工具座外置的情况下：
当工作程式对应有至少两个清洗或改造处理工序，且工作路径包括：与改造处理工序对应的至少两个主路径及转换路径时，当前防爆机器人1在工作程式引导下，通过工作路径对油罐3实施内部清洗或改造具体包括：
首先，当前防爆机器人1在工作程式引导下，通过当前主路径时对油罐执行当前清洗或改造处理工序；
接着，在完成当前清洗或改造处理工序后，当前防爆机器人1在工作程式引导下，通过当前转换路径从当前清洗或改造处理工序对应的当前清洗或改造处理状态转换为下一清洗或改造处理状态，具体的，防爆机器人需要通过转换路径替换执行件，持有当前执行件进行当前清洗或改造处理工序为当前清洗或改造处理状态，持有下一执行件进行下一清洗或改造处理工序为下一清洗或改造处理状态；
然后，当前防爆机器人1在工作程式引导下，通过下一主路径时对油罐执行下一清洗或改造处理工序。
相应的，油罐清洗/改造工作站进一步包括：用于盛装执行件12的工具座24，工具座24相对于防爆机器人1外置。而防爆机器人1中，传动件13通过快换装置14与执行件12快换式装配。
相应的，当采用上述油罐清洗/改造工作站时，油罐3的清洗或改造方法具体包括：
当工作程式对应有至少两个清洗或改造处理工序，且工作路径包括：与清 洗或改造处理工序对应的至少两个主路径及转换路径时，传动件13在控制器11控制下带动执行件12通过工作路径，执行件12通过工作路径时对油罐3实施内部清洗或改造具体包括：
控制器11在工作程式引导下，控制传动件13动作，使当前执行件12通过当前主路径时对油罐3执行当前清洗或改造处理工序；
在完成当前清洗或改造处理工序后，控制器11在工作程式引导下，控制传动件13动作，通过当前转换路径将快换装置14上的当前执行件12替换为下一执行件12，以完成从当前清洗或改造处理工序对应的当前清洗或改造处理状态转换为下一清洗或改造处理状态；
控制器11在工作程式引导下，控制传动件13动作，使下一执行件12通过下一主路径时对油罐3执行下一清洗或改造处理工序。
当执行件12为集成式或混合式设计时，控制器11在工作程式引导下，直接驱动执行件12原位完成执行件转换工序，其他方面同采用工具座外置结构的防爆机器人。
实施例三：
本实施例与上述实施例区别主要在于：
本实施例的油罐3的清洗或改造方法还包括：
当前防爆机器人3通过交互模块与其它防爆机器人和/或人员进行交互以搭配作业。具体的，防爆机器人3可根据实际情况与人类或另外一个工作站的防爆机器人灵活搭配完成作业。
相应的，本实施例中的油罐清洗/改造工作站包括至少两个防爆机器人1或至少1个防爆机器人和1个人类。本实施例的防爆机器人1还包括：与控制器11相连的交互模组，用于与其他防爆机器人和/或人员进行交互以搭配作业。
实施例四：
本实施例与上述实施例区别主要在于：
本实施例中，防爆机器人1采用爬行防爆机器人。
需要说明的是，由于油罐1内在清洗前存在残油，为避免对防爆机器人1的油污性质的损害，采用蛇形防爆机器人较其他形式防爆机器人更为可靠，原因是，蛇形防爆机器人通过塔式结构以悬吊的方式进行作业，不会触碰到油罐内壁，使得防爆机器人保证了清洁。
下面参照图2-11举例说明本申请各实施例中的油罐清洗/改造工作站、防爆 机器人及相应的油罐清洗或改造方法。
如图2-3所示，为蛇形防爆机器人未入罐或从油罐中出来后的情形。
如图4-5所示，为蛇形防爆机器人基本是1/4入罐时的情形。
如图6-7所示，为蛇形防爆机器人基本是3/4入罐时的情形。
如图8-9所示，为蛇形防爆机器人基本是全入罐且完全伸展时的情形。
如图10-11所示，为蛇形防爆机器人基本是全入罐且折叠时的情形。
上述油罐清洗/改造工作站、防爆机器人及相应的油罐清洗或改造方法的应用举例如下:
第一步，在罐区放下工作站，给其通电自检准备接受开工信号；
第二步，工作站根据人工指令或预设人工智能定位并接近对准目标油罐；
第三步，工作站根据人工指令或预设人工智能选择对应工种执行件准备作业；
第四步，工作站根据人工指令或预设人工智能将带有对应作业执行件的传动件伸入油罐罐体内部进行作业；
第五步，工作站根据人工指令或预设人工智能顺序完成预设作业；
第六步，工作站根据人工指令或预设人工智能完成作业后自动收回并退回原始出发位置等待回收转场。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上内容是结合具体的实施方式对本申请所作的进一步详细说明，不能认定本申请的具体实施只局限于这些说明。对于本申请所属技术领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干简单推演或替换。

Claims (10)

  1. 一种油罐的改造方法，其特征在于，包括：
    预设定对当前油罐进行内部改造的当前防爆机器人的工作程式，所述工作程式对应于所述当前防爆机器人的工作路径；
    所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造。
  2. 如权利要求1所述的油罐的改造方法，其特征在于，当所述工作程式对应有至少两个改造处理工序，且所述工作路径包括：与所述改造处理工序对应的至少两个主路径及转换路径时，所述当前防爆机器人在所述工作程式引导下，通过所述工作路径对所述油罐实施内部改造具体包括：
    所述当前防爆机器人在所述工作程式引导下，通过当前主路径时对所述油罐执行当前改造处理工序；
    在完成所述当前改造处理工序后，所述当前防爆机器人在所述工作程式引导下，通过当前转换路径从所述当前改造处理工序对应的当前改造处理状态转换为下一改造处理状态；
    所述当前防爆机器人在所述工作程式引导下，通过下一主路径时对所述油罐执行下一改造处理工序。
  3. 如权利要求2所述的油罐的改造方法，其特征在于，所述工作程式对应有如下改造处理工序中的部分或全部：
    罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、切割罐内支撑件工序、打磨切割面工序、干燥罐体工序、预涨紧支撑罐体工序、焊接支撑件工序、罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序及罐体3D测绘定位工序。
  4. 如权利要求1所述的油罐的改造方法，其特征在于，所述油罐的改造方法还包括：
    所述当前防爆机器人通过交互模块与其它防爆机器人和/或人员进行交互以搭配作业。
  5. 一种油罐的改造方法，其特征在于，所述油罐的改造方法基于一种用于改造油罐的防爆机器人，所述防爆机器人包括：控制器、与 所述控制器相连的传动件；以及，分别与所述传动件及所述控制器相连的执行件，所述油罐的改造方法包括：
    对所述控制器预设定对当前油罐进行内部改造的工作程式，所述工作程式对应于所述防爆机器人的工作路径并引导所述控制器进行对应控制；
    所述传动件在所述控制器控制下带动所述执行件通过所述工作路径，所述执行件通过所述工作路径时对所述油罐实施内部改造。
  6. 如权利要求5所述的油罐的改造方法，其特征在于，所述传动件通过快换装置与所述执行件快换式装配，当所述工作程式对应有至少两个改造处理工序，且所述工作路径包括：与所述改造处理工序对应的至少两个主路径及转换路径时，所述传动件在所述控制器控制下带动所述执行件通过所述工作路径，所述执行件通过所述工作路径时对所述油罐实施内部改造具体包括：
    所述控制器在所述工作程式引导下，控制所述传动件动作，使当前执行件通过当前主路径时对所述油罐执行当前改造处理工序；
    在完成所述当前改造处理工序后，所述控制器在所述工作程式引导下，控制所述传动件动作，通过当前转换路径将所述快换装置上的所述当前执行件替换为下一执行件；
    所述控制器在所述工作程式引导下，控制所述传动件动作，使所述下一执行件通过下一主路径时对所述油罐执行下一改造处理工序。
  7. 如权利要求6所述的油罐的改造方法，其特征在于，所述防爆机器人包括有如下部分或全部的执行件：罐外清理残油组件、开人孔盖板组件、开人孔盖板后通风除易爆挥发物组件、除锈并清洗罐内组件、切割罐内支撑件组件、打磨切割面组件、干燥罐体组件、预涨紧支撑罐体组件、焊接支撑件组件、罐内表面喷涂组件、结构件贴合组件、成型养护组件、伴随质检组件，及罐体3D测绘定位组件，
    相应的，所述工作程式对应有如下清洗处理工序中的部分或全部：罐外清理残油工序、开人孔盖板工序、开人孔盖板后通风除易爆挥发物工序、除锈并清洗罐内工序、切割罐内支撑件工序、打磨切割面工序、干燥罐体工序、预涨紧支撑罐体工序、焊接支撑件工序、罐内表面喷涂工序、结构件贴合工序、成型养护工序、伴随质检工序及 罐体3D测绘定位工序。
  8. 如权利要求5所述的油罐的改造方法，其特征在于，所述防爆机器人还包括：
    与所述控制器相连的交互模组，用于与其他防爆机器人和/或人员进行交互以搭配作业，
    所述油罐的改造方法还包括：
    所述当前防爆机器人通过交互模块与其它防爆机器人和/或人员进行交互以搭配作业。
  9. 如权利要求5-8中任一项所述的油罐的改造方法，其特征在于，所述防爆机器人为防爆多关节蛇形机器人或防爆爬行机器人。
  10. 如权利要求9所述的油罐的改造方法，其特征在于，所述防爆机器人装配于一塔式结构内，所述塔式结构具有供所述防爆机器人活动的活动腔。
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