内浮顶储油罐机器人清洗工艺的设计

针对内浮顶储油罐传统清洗方法存在的清洗效率低、清洗不彻底和安全性差等缺陷,提出一种内浮顶储油罐机器人清洗技术.机器人清洗系统包括清洗机器人、人孔引导梯、卷放器、动力装置、监控装置、污水回收装置、气体置换装置和给水装置等部分.通过理论计算分析,并充分考虑罐内复杂的工作环境,设计清洗方式为180°水射流清洗以及定点清洗,机器人按照规划的行走路径依次在每一个工作点采用180°的水射流清洗模式进行清洗,定点清洗最终完成有效清洗范围对整个待清洗区域的覆盖.与传统的机械清洗技术相比,机器人清洗技术实现了非人员进罐和自动化清洗,安全,成本低,只需4~5人进行安装操作即可,清洗用时缩短了约1/3.

Robotic Cleaning Technology of Internal Floating Roof Oil Tank

Aiming to overcome the shortcomings of traditional cleaning methods,such as low cleaning efficiency, incomplete cleaning and poor safety, a robotic cleaning technology for internal floating roof oil tank is developed.The robotic cleaning system consists of cleaning robot,manway ladder,rolling machine,power unit,monitoring device,waste water recovery device,gas exchange device and water-supply device.The process design principle is to set the specific position of the tank as the robot working point and plan the movement path,use the 180° water jet cleaning mode for cleaning at each working point,and finally complete the coverage of effective cleaning range on the whole to-be-cleaned area.The specific procedures of using the robot to clean the inner floating roof oil tank are introduced in detail.Compared with traditional mechanical cleaning technology,robotic cleaning technology has achieved the goal of no man into the tank and automatic cleaning,which only needs 4~5 operators to install the device,and the cleaning time is reduced by about 1/3 .