EP3148718B1 - Device for the maintenance of tanks and cisterns designed to contain dangerous products - Google Patents

Device for the maintenance of tanks and cisterns designed to contain dangerous products Download PDF

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Publication number
EP3148718B1
EP3148718B1 EP15732372.6A EP15732372A EP3148718B1 EP 3148718 B1 EP3148718 B1 EP 3148718B1 EP 15732372 A EP15732372 A EP 15732372A EP 3148718 B1 EP3148718 B1 EP 3148718B1
Authority
EP
European Patent Office
Prior art keywords
tool
tank
carriage
articulated
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15732372.6A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3148718A1 (en
Inventor
Mario Pompeo Pivi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
T & A Tecnologie E Ambiente SpA
Original Assignee
T & A Tecnologie E Ambiente SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by T & A Tecnologie E Ambiente SpA filed Critical T & A Tecnologie E Ambiente SpA
Priority to SI201531972T priority Critical patent/SI3148718T1/sl
Publication of EP3148718A1 publication Critical patent/EP3148718A1/en
Application granted granted Critical
Publication of EP3148718B1 publication Critical patent/EP3148718B1/en
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Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
    • B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
    • B05B15/628—Arrangements for supporting spraying apparatus, e.g. suction cups of variable length
    • 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
    • B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers

Definitions

  • This invention relates to a device designed to perform maintenance operations on the inside surfaces of tanks used to hold hazardous and non-hazardous products.
  • this invention relates to a device designed to perform maintenance operations on tanks which extends the operation of the maintenance carriages used up to now to allow the operation to be adapted to the increased dimensions of the spaces involved in the operation.
  • the device according to the invention defined in appended claim 1 is mounted on a self-propelled carriage and comprises a system of articulated telescopic and rotary elements hinged to each other, carrying one or more tools, which allows movement towards the surfaces to be treated by the tool, in such a way as to always operate at the optimum distance.
  • the assembly of elements is moved by the same console used for moving the self-propelled support carriage and it becomes to all intents and purposes an integral part.
  • the device according to the invention aims, on the one hand, to increase the effectiveness of the traditional carriages for the treatment of tanks, especially those with a large capacity, and, on the other hand, to increase the versatility of use, adopting a system of interchangeable tools which allow, for example, washing, spraying of paint or gelcoats, measurement of thicknesses or sandblasting, all at a distance close to the surface to be treated.
  • This invention is applicable and finds its main use in all the applications which require maintenance, inspection and, in general, control operations for the inside walls of tanks and structures containing fuels and other solid or liquid products.
  • this invention can be applied for the maintenance of tanks where for reasons of safety the access of personnel inside is not allowed (no man entry), and where access normally consists of an opening of very limited dimensions, such as, for example, a manhole.
  • tanks in general and more specifically those for holding fuels are subject over time to deterioration, which implies regular maintenance activities on the inside walls, such as cleaning, restoring and painting, and the implementation of non-destructive investigations by means of suitable tests, in order to check the condition.
  • Document US 2004/0099288A1 discloses an apparatus for scarifying the interior surface of a sewer pipe.
  • the apparatus consists of a chassis, with an outer frame coupled to the chassis and an inner frame slidably coupled to the outer frame
  • Two extendable arms are attached to opposite sides of the inner frame.
  • Each arm has a nozzle assembly mounted on the end, each nozzle assembly having a plurality of fluid jets for spray water onto the interior surface of the pipeline.
  • the nozzle assembly may be pivotally mounted to allow for greater control of the fluid jets.
  • the apparatus further includes a propulsion system for movement of the apparatus along the pipeline.
  • Document DE G9307652.5 U1 also describes a movable device for cleaning tanks for the sprouting or drying of grain or fruit or vegetables.
  • Document DE 29603291 U1 relates to a vehicle for performing inspections (and it is for this reason provided with a video camera) inside pipes equipped with a worm screw mechanism for moving the movable arm of the carriage.
  • None of these vehicles are designed to be inserted through a tank opening of limited size, in particular a manhole, for access which is not recommended for personnel for safety reasons, and they are not designed to perform different operations inside the tank, placing one or more tools or heads immediately next to the inside wall of the tank.
  • US 5 081 800 A discloses a vehicle with a manipulator arm provided with a blasting nozzle at its end and proximity detectors placed close to it in order to allow automatic control of the movements of the nozzle.
  • the aim of this invention is to provide a device to perform maintenance operations on tanks, in particular for holding hazardous products, which is able to overcome or at least reduce the above-mentioned drawbacks.
  • the invention also aims to provide a device designed for maintenance operations on tanks which is simple to produce but extremely practical and functional to use, having components which are able to move the tools towards the walls to be treated irrespective of the dimensions of the tank itself.
  • This mechanical arm allows particularly effective operations to be performed, even in zones which are difficult to treat, such as, for example, the ceiling of tanks, even large ones, as it is able to move the tools towards the inner walls of the areas to be treated.
  • a device 10 is positioned inside a cylindrical tank 20 with a horizontal axis provided with a manhole opening 11, and it substantially consists of an articulated arm 31 applied on a carriage 32 driven by a pneumatic or hydraulic motor, and generally moved by tracks or the like, which can be connected by suitable wiring 33 to a control panel 34 located outside the tank.
  • the arm 31 consists of a series of elements which will be described in more detail below, and it can be operated by means of the same control panel 34 of the carriage 32 and it is in fact an integral part of it.
  • Figure 2 are highlights the constructional features of the articulated arm 31.
  • the arm 31 comprises a tower 35 hinged on the carriage 32.
  • the tower 35 is able to rotate by 90° to the horizontal and move at right angles to it, adopting a substantially vertical position, using a piston 36.
  • the tower 35 is equipped with a telescopic device 37 which by means of pistons 38 is able to raise up to twice its height.
  • a telescopic device 37 which by means of pistons 38 is able to raise up to twice its height.
  • the telescopic device 37 allows a gear unit 39 to reach the centre of the tank.
  • the above-mentioned gear unit 39 is mounted on the telescopic device 37, and on the axes of rotation 40, 41 of the unit are mounted telescopic rods 42, 43 which can rotate on the axis of the gears by means of a motor 44 which places the rods 42, 43 in counter-rotation respectively about the pivots formed by the axes 40, 41.
  • Each telescopic rod 42, 43 is provided with respective telescopic devices 45, 46 at the top of each of which is applied a tool 47, which in the case illustrated in Figure 2 is represented by a series of nozzles for performing high pressure washing.
  • sliding members 45 and 46 make it possible to increase the operating distance covered by the articulated arms 42 and 43.
  • Figure 3 shows a detail of the kinematic unit 39 comprising gears for rotating the telescopic rods 42 and 43 applied on the rotational pins 40 and 41.
  • Figures 4 to 7 the arm 31 and carriage 32 assembly is on the bottom of the tank 10.
  • Figure 4 shows the articulated arm 31 in the closed position immediately after having been lowered through the manhole 11
  • Figure 5 shows the arm with the tower 35 in the vertical position
  • Figure 6 shows the tower 35 raised and the telescopic device 37 lifted.
  • the rods 42, 43 are rotated and the telescopic devices are open, allowing the tools to move close to the walls to be treated.
  • Figures 8 to 10 show all the movements which can be performed by the articulated arm 31 and, as may be noted, all the telescopic devices of the same articulated arm may be extended to the distance necessary for the size of the tank to be treated, and the set of mutual translational and rotational movements which the various components of the arm 31 can perform in combination with each other allows an increase in operational efficiency, guaranteeing the optimum working distance with variations in the diameter of the tank.
  • FIGS. 1-10 show tanks of various diameters comprising the carriage 32 and the articulated arm 31, which may be configured to optimise the working distance of the respective tool from the surfaces to be treated.
  • the set of elements which constitute the invention that is to say, the arm 50 mounted on the carriage 51, can be operated by the same control panel 52 connected to the carriage 51 by wiring 53.
  • Figure 12 highlights the distinctive constructional feature of the invention, and it may be noted that in this second embodiment the arm 50 is installed on a base 54 which may rotate through 360° relative to a vertical axis, the base 54 being fixed by a rack 55 to the carriage 51.
  • the tower 57 is in this case hinged on the base 54 and, by means of a motor 59 connected to a worm screw 60, rotates relative to the pivot 58 through 90° to move to a vertical position.
  • a telescopic device 61 which by means of a motor 62 rises to twice the height of the tower 57 moving, in the case of cylindrical tanks with a horizontal axis, the box gear 63 close to the centre of the tank.
  • a gear box 63 similar to the box 39 described above, which, by means of a motor 64 rotates a rod 65 equipped with the telescopic device 66 at the top of which is fixed a tool 67.
  • a feeler device 68 connected to the control panel which makes it possible to automatically adjust the length of the telescopic device 66 for moving the tool 67 to the optimum working distance or in contact with the surfaces to be treated.
  • the feeler device is also present in all embodiments of the device according to the invention.
  • Figures 13 to 17 show in sequence the opening movements of the arm 50 during its operation.
  • Figure 13 shows the assembly made up of the arm 50 and carriage 51 located on the bottom of the tank 30 in a closed position immediately after having been lowered into the tank through the manhole.
  • Figure 14 shows the arm with the tower 57 in the vertical position and Figure 15 shows the arm rotated by 90° with respect to the carriage 51.
  • Figures 18 to 20 show tanks of various diameters comprising inside them the carriage 51 comprising the articulated movable arm 50 according to the second embodiment of the invention, and again in this case it may be noted that the articulated arm 50 of the carriage unit according to the invention may be configured in various ways according to the dimensions of the tank so as to optimise the working distance of the respective tool from the surfaces to be treated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Working Measures On Existing Buildindgs (AREA)
  • Spray Control Apparatus (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)
EP15732372.6A 2014-05-30 2015-05-15 Device for the maintenance of tanks and cisterns designed to contain dangerous products Active EP3148718B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201531972T SI3148718T1 (sl) 2014-05-30 2015-05-15 Naprava za vzdrževanje rezervoarjev in cistern, namenjenih za shranjevanje nevarnih izdelkov

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITVR20140159 2014-05-30
PCT/IB2015/053598 WO2015181670A1 (en) 2014-05-30 2015-05-15 Device for the maintenance of tanks and cisterns designed to contain dangerous products

Publications (2)

Publication Number Publication Date
EP3148718A1 EP3148718A1 (en) 2017-04-05
EP3148718B1 true EP3148718B1 (en) 2023-07-19

Family

ID=51230122

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15732372.6A Active EP3148718B1 (en) 2014-05-30 2015-05-15 Device for the maintenance of tanks and cisterns designed to contain dangerous products

Country Status (9)

Country Link
EP (1) EP3148718B1 (da)
CN (1) CN105916601A (da)
DK (1) DK3148718T3 (da)
ES (1) ES2959421T3 (da)
FI (1) FI3148718T3 (da)
HU (1) HUE063963T2 (da)
PL (1) PL3148718T3 (da)
SI (1) SI3148718T1 (da)
WO (1) WO2015181670A1 (da)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106078761B (zh) * 2016-07-18 2018-05-01 冯广义 一种可反馈式电缆维修机器人
CN107088486A (zh) * 2017-04-21 2017-08-25 成都大漠石油技术有限公司 将防锈液喷涂在油桶内壁的机构
CN111036460B (zh) * 2019-12-19 2024-11-19 华能延安发电有限公司 火力发电厂脱硫吸收塔智能防腐材料喷涂系统
CN112403747B (zh) * 2019-12-19 2021-11-02 苏州许本科技有限公司 一种基于视觉伺服的多枪混控喷漆机器人
CN111515200B (zh) * 2020-04-15 2024-08-23 四川义德智慧科技有限公司 一种水泥清库装置
CN111673706A (zh) * 2020-06-04 2020-09-18 宣城智新机电科技有限责任公司 一种基于x射线机的双臂双机轮式行走探伤机器人

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0365921B1 (de) * 1988-10-25 1992-03-11 HEINRICH SCHLICK GmbH Vorrichtung zum Befahren von geschlossenen Kanälen
US5205174A (en) * 1991-05-24 1993-04-27 Silverman Eugene B Scavenger submersible visual and acoustical tank inspection system and method
DE9307652U1 (de) 1993-05-19 1993-07-15 Kneisel & Heess GmbH, 6840 Lampertheim Mobiler Reinigungswagen zum Säubern von, während des Reinigungsvorganges schlecht zugänglichen Einrichtungen
DE29603291U1 (de) 1996-02-23 1997-02-06 JT Elektronik GmbH, 88131 Lindau Elektrische Höhen- und Neigungsverstellung
US20020179123A1 (en) * 2001-05-31 2002-12-05 Charles Toward Fluidized cleaning and scarification apparatus and method
DE10162477B4 (de) * 2001-12-19 2007-03-29 Framatome Anp Gmbh Vorrichtung zur Reinigung eines Behälters für radioaktive Reststoffe
CA2412691C (en) 2002-11-25 2008-02-26 Mac & Mac Hydrodemolition Inc. Scarifying apparatus for interior surface of pipeline
CN201720225U (zh) * 2010-07-16 2011-01-26 湖南大学 中央空调风管清扫机器人多自由度立体毛刷清扫装置
CN103372561A (zh) * 2012-04-17 2013-10-30 中国石油化工股份有限公司 一种油罐清洗系统及方法和应用
CN102764750B (zh) * 2012-08-12 2014-02-26 周利坤 一种油罐清洗机器人

Also Published As

Publication number Publication date
HUE063963T2 (hu) 2024-02-28
EP3148718A1 (en) 2017-04-05
DK3148718T3 (da) 2023-10-23
FI3148718T3 (fi) 2023-10-18
WO2015181670A1 (en) 2015-12-03
PL3148718T3 (pl) 2023-12-27
ES2959421T3 (es) 2024-02-26
CN105916601A (zh) 2016-08-31
SI3148718T1 (sl) 2024-01-31

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