JPH0416227A - Stirring robot in tank - Google Patents
Stirring robot in tankInfo
- Publication number
- JPH0416227A JPH0416227A JP2116811A JP11681190A JPH0416227A JP H0416227 A JPH0416227 A JP H0416227A JP 2116811 A JP2116811 A JP 2116811A JP 11681190 A JP11681190 A JP 11681190A JP H0416227 A JPH0416227 A JP H0416227A
- Authority
- JP
- Japan
- Prior art keywords
- tank
- robot
- hinge
- shaft
- stirring
- 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.)
- Pending
Links
- 238000003756 stirring Methods 0.000 title claims abstract description 35
- 238000005452 bending Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 5
- 239000010802 sludge Substances 0.000 description 4
- 239000010779 crude oil Substances 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000013019 agitation Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000013049 sediment Substances 0.000 description 2
- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000003063 flame retardant Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Landscapes
- Mixers With Rotating Receptacles And Mixers With Vibration Mechanisms (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、例えば原油貯蔵タンクやＣＯＭ、ＣＷＭ貯蔵
タンクなどに適用されるタンク内撹拌ロボントに関する
。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an in-tank stirring robot applied to, for example, crude oil storage tanks, COM, CWM storage tanks, and the like.
原油貯蔵タンクの底部には難燃性のスラッジが沈降して
堆積する。また、ＣＯＭ、ＣＷＭ貯藏タンクの底部には
石炭粒子の固形分が沈降して堆積する。これを防ぐため
、貯蔵タンク内にロボットを入れて遠隔操作によってタ
ンク底部の沈澱堆積物をポンプに吸込み、タンク上方に
放出させて貯蔵タンク内を攪拌するなどの試みが行われ
ている。Flame-retardant sludge settles and accumulates at the bottom of crude oil storage tanks. In addition, solid content of coal particles settles and accumulates at the bottom of the COM and CWM storage tanks. In order to prevent this, attempts are being made to place a robot inside the storage tank and use remote control to suck up the sediment at the bottom of the tank into a pump and release it above the tank to agitate the inside of the storage tank.
上記のような従来のロボットにおいて、貯蔵タンク内に
おけるロボットの位置を目視或いは液中ＴＶによってｆ
！認することは貯蔵タンク内が汚濁していて視界が全く
きかないために難しい。このため、超音波或いは可慾音
波を使用して検出することも考えられるが、貯蔵タンク
内のスラッジの濃度、石炭粒子の粒度と濃度などによっ
て、またこれらの温度によっても音速が変わるとともに
、タンク壁面からの反射波を濾過しなければならず、極
めて複雑で高価な補正装置を必要とし、また検出精度も
低い。In the conventional robot as described above, the position of the robot in the storage tank can be determined visually or by using an underwater TV.
! It is difficult to identify the situation because the inside of the storage tank is so polluted that it is completely impossible to see. For this reason, it is possible to detect using ultrasonic waves or flexible sound waves, but the speed of sound changes depending on the concentration of sludge in the storage tank, the particle size and concentration of coal particles, and the temperature of these things. The reflected waves from the wall must be filtered, requiring an extremely complicated and expensive correction device, and the detection accuracy is low.
本発明に係るタンク内撹拌ロボットは上記課題の解決を
目的にしており、第一のロータリエンコ−ダが装着され
たタンクの中心軸と、結合軸に第二のロータリエンコー
ダが装着されたヒンジを介して上記中心軸と上下方向に
屈伸自在に結合された上部軸と、該上部軸とヒンジを介
して上下方向に屈伸自在−二結合されるとともに上記タ
ンクの底部を走行するロボット本体を挟持する下部軸と
を備えた構成を特徴としている。The in-tank stirring robot according to the present invention aims to solve the above-mentioned problems, and has a central axis of the tank on which a first rotary encoder is attached, and a hinge on which a second rotary encoder is attached to a connecting shaft. An upper shaft that is vertically flexible and vertically connected to the central shaft via a hinge, and a robot main body that is vertically flexible and vertically connected to the upper shaft through a hinge and that runs on the bottom of the tank. It is characterized by a configuration including a lower shaft.
即ち、本発明に係るタンク内撹拌ロボットにおいては、
ロータリエンコーダが装着されたタンクの中心軸に上部
軸が結合軸にロークリエンコーダが装着されたヒンジを
介して、また上部軸にタンクの底部を走行するロボット
本体を挟持する下部軸がヒンジを介してそれぞれ上下方
向に屈伸自在に結合されており、タンクの中心軸に対す
るロボット本体の周方向の角度および中心軸からのロボ
ット本体の距離が、ロータリエンコーダによりそれぞれ
検出される旋回角度、屈伸角度と上部軸および下部軸の
長さとにより求まり、タンク内におけるロボット本体の
位置を簡単な構造で精度良く検出することができる。That is, in the tank stirring robot according to the present invention,
The upper shaft connects to the center axis of the tank, where the rotary encoder is installed, through a hinge to which the rotary encoder is installed, and the lower shaft, which holds the robot body running on the bottom of the tank, connects to the upper shaft through the hinge. The circumferential angle of the robot body with respect to the central axis of the tank and the distance of the robot body from the central axis are respectively detected by rotary encoders. It is determined by the lengths of the shaft and the lower shaft, and the position of the robot body in the tank can be detected with high accuracy with a simple structure.
第１図乃至第３図は本発明の一実施例に係るタンク内撹
拌ロボットの構造説明図、第４図および第５図はその作
用説明図である。図において、本実施例に係るタンク内
撹拌ロボ・ノドは原油貯蔵タンク内の撹拌に使用されて
おり、第１図および第２図において符号１はタンク、２
はその屋根、４は防油堤、６は沈澱堆積物、７は攪拌ロ
ボット、９はその操作盤である。そして、図に示すよう
にタンク１０屋根２の中心に蓋１０とフランジ１１を介
してブツシュ１２が取り付けられており、図示しない中
心軸がブツシュ１２によって旋回自在に支持されている
。この中心軸の上端にはロータリエンコーダ１３が、ま
た下端にはヒンジ１４がそれぞれ装着されている。ヒン
ジ１４の下部には上部軸１５の上端が垂直方向に屈伸自
在に結合され、上部軸１５の下端にはヒンジ１６を介し
て下部軸１７の上端が垂直方向に屈伸自在に結合されて
いる。なお、タンクｌの屋根２が固定型式でなく浮屋根
型式の場合には、中心軸：よ支柱を介巳てタンク１の底
部或いは側壁により支持される。下部軸１７の下端は二
叉に分かれてタンクｌの底部を走行する撹拌ロボ、ドア
を両側面から挟持している。ヒンジ１４の結合軸にはロ
ータリエンコーダ１８が、またヒンジ１６の結合軸には
ロータリエンコーダ１９がそれぞれ装着されており、ヒ
ンジ１４，１６と一体に形成されている。これらのロー
タリエンコーダ１３，１８．１９は円周に設けられてい
るラジアル格子によるモアレじまの移動を光電的に捕え
てラジアル格子の回転角を知ることができるもので、精
度３秒、分解能０．５秒の機能およびタンク内における
耐環境性を具えており、中心軸の旋回角θはロータリエ
ンコーダ１３により、上下部軸１５．１７の屈伸角α、
βはロータリエンコーダ１８．１９によりそれぞれ検出
される。1 to 3 are structural explanatory diagrams of an in-tank stirring robot according to an embodiment of the present invention, and FIGS. 4 and 5 are explanatory diagrams of its operation. In the figure, the in-tank agitation robot/nod according to this embodiment is used for agitation in a crude oil storage tank, and in Figs.
4 is the roof, 4 is the oil embankment, 6 is the sediment, 7 is the stirring robot, and 9 is the operation panel. As shown in the figure, a bushing 12 is attached to the center of the roof 2 of the tank 10 via a lid 10 and a flange 11, and a central shaft (not shown) is rotatably supported by the bushing 12. A rotary encoder 13 is attached to the upper end of this central shaft, and a hinge 14 is attached to the lower end. The upper end of an upper shaft 15 is coupled to the lower end of the hinge 14 so as to be vertically flexible, and the upper end of a lower shaft 17 is coupled to the lower end of the upper shaft 15 via a hinge 16 so as to be vertically flexible. In addition, when the roof 2 of the tank 1 is not a fixed type but a floating roof type, it is supported by the bottom or side wall of the tank 1 via a central axis and a support. The lower end of the lower shaft 17 is divided into two parts and holds the stirring robot running at the bottom of the tank l and the door from both sides. A rotary encoder 18 is attached to the coupling shaft of the hinge 14, and a rotary encoder 19 is attached to the coupling shaft of the hinge 16, and these are formed integrally with the hinges 14 and 16. These rotary encoders 13, 18, and 19 are capable of detecting the rotation angle of the radial grating by photoelectrically capturing the movement of the moire edge due to the radial grating provided around the circumference, and have an accuracy of 3 seconds and a resolution of 0. .5 second function and environmental resistance inside the tank, the rotation angle θ of the central axis is determined by the rotary encoder 13, and the bending/extension angle α of the upper and lower shafts 15, 17,
β is detected by rotary encoders 18 and 19, respectively.
第４図に示すように、攪拌ロボ、ドアからタンク１の中
心までの距離をｒ、上部軸１５の長さを１１、下部軸１
７の長さを１２、タンク１の高さをＨ２上部軸１５と中
心軸との屈伸角をαとした場合、攪拌ロボット７の位置
は屈伸角αの一次元関数として次式で表わされる。As shown in Figure 4, the distance from the stirring robot door to the center of the tank 1 is r, the length of the upper shaft 15 is 11, and the lower shaft 1
When the length of the stirring robot 7 is 12, the height of the tank 1 is H2, and the bending/extending angle between the upper shaft 15 and the central axis is α, the position of the stirring robot 7 is expressed as a one-dimensional function of the bending/extending angle α by the following equation.
ｆ、ｃｏｓ α −−−−−−−−−（１）また、上
部軸１５と下部軸１７との屈伸角βは次式で表わされる
。f, cos α ------- (1) Further, the bending/extension angle β between the upper shaft 15 and the lower shaft 17 is expressed by the following equation.
従って、タンク１の高さ、上部軸１５、下部軸１７の長
さおよび上部軸１５の屈伸角αをロークリエンコーダ１
８で検出することにより、タンク１の１８２における中
心軸をタンク１の中心とする撹拌ロボ、ドアのタンクｌ
底部における中心からの距離が求まる。また、攪拌ロボ
ット７のタンク１底部における周方向の位置は中心軸の
旋回角θをロークリエンコーダ１３で検出することによ
り求まる。このようにして、攪拌ロボット７のタンク１
の底部における二次元位置が検出される。Therefore, the height of the tank 1, the lengths of the upper shaft 15, the lower shaft 17, and the bending/extension angle α of the upper shaft 15 are determined by the low-resolution encoder 1.
By detecting at 8, the stirring robot with the central axis at 182 of tank 1 as the center of tank 1, the tank l at the door
Find the distance from the center at the bottom. Further, the position of the stirring robot 7 in the circumferential direction at the bottom of the tank 1 can be determined by detecting the rotation angle θ of the central axis using the rotary encoder 13. In this way, the tank 1 of the stirring robot 7
The two-dimensional position at the bottom of is detected.
ＩｊＰ１０ボット７を操作するための動力用ホースや制
御用ケーブルは上部軸１５、下部軸１７に沿って付設さ
れ、操作盤９内には電気油圧式の制御装置が内蔵されて
おり、第３図に示すように数値制御装置に数値情報とし
てタンク１の寸法、旋回角θおよび屈伸角αに係る攪拌
ロボット７の走行パターン、スラッジの沈澱堆積状況に
対応した攪拌ロボットの走行速度などが制御用ケーブル
を介して入力される。すると、数値制御装置からは指令
パルス制御信号が出力され、この信号は増幅器を経て電
油変換器で油圧に変換され、動力用ホースを介して撹拌
ロボットの独立懸架式の車輪を駆動する油圧モータの回
転速度と回転方向とを自動的に遠隔制御する。また、屈
伸角αの関数である屈伸角βはフィードバック信号とし
てアナログディジタル変換器にフィードバックされ、数
値情報として入力された屈伸角αとコンピュータで比較
演算され、両者に偏差があるときには回路修正発信器か
ら修正信号が発信されるようになっており、撹拌ロボッ
ト７の位置の検出精度の向上が図られている。攪拌ロポ
、ドアの走行軌跡は操縦盤９のＣＲＴ、（ＣａＬｈＯｄ
ｅ Ｒａｙ Ｔｕｂｅ）画面上に表示され、また必
要に応じて記録されるようになっている。Power hoses and control cables for operating the IjP10 bot 7 are attached along the upper shaft 15 and lower shaft 17, and an electro-hydraulic control device is built into the operation panel 9, as shown in Fig. 3. As shown in the figure, numerical information such as the dimensions of the tank 1, the running pattern of the stirring robot 7 related to the turning angle θ and the bending/extending angle α, and the running speed of the stirring robot corresponding to the sludge sedimentation situation is sent to the numerical control device using the control cable. Input via . Then, a command pulse control signal is output from the numerical control device, and this signal passes through an amplifier and is converted into hydraulic pressure by an electro-hydraulic converter, which is then connected to a hydraulic motor that drives the independent suspension wheels of the stirring robot via a power hose. The rotation speed and direction of the rotation are automatically controlled remotely. In addition, the bending/extending angle β, which is a function of the bending/extending angle α, is fed back to the analog-digital converter as a feedback signal, and is compared with the bending/extending angle α input as numerical information by a computer. If there is a deviation between the two, a circuit correction oscillator is sent. A correction signal is transmitted from the stirring robot 7, and the accuracy of detecting the position of the stirring robot 7 is improved. The travel trajectory of the stirring robot and door is shown on the CRT of the control panel 9 (CaLhOd
e Ray Tube) is displayed on the screen and recorded as necessary.
第５図は攪拌ロボットの走行軌跡の２つのパターンＡ、
Ｂを示す。パターンＡは図の上方に示すように撹拌ロボ
ットの走行区分を半径方向に２分割して攪拌を行うもの
で、攪拌ロボットはタンクｌの底部中心から出発して半
径方向に約６０％の範囲を前進、後進を繰り返しながら
三角波形状に円周方向に移動し、１周した後に半径方向
の残り約４０％の範囲を同様の動作で走行することによ
ってタンク１全底部の攪拌を行う。また、パターンＢは
図の下方に示すように攪拌ロボットの走行区分を半径方
向に分割しないで前進、後進の走行行程量に変化付けて
攪拌を行うもので、攪拌ロボットはタンク１の底部中心
から出発してタンク１周辺まで前進し、その後に後進、
前進を繰り返しながら三角波形状に大、小の変化を付け
ながら周方向に移動し、タンクｌ全底部の攪拌を行う。Figure 5 shows two patterns A of the stirring robot's running trajectory.
Indicates B. In pattern A, as shown in the upper part of the diagram, stirring is performed by dividing the movement section of the stirring robot into two in the radial direction. It moves in the circumferential direction in a triangular wave shape while repeatedly moving forward and backward, and after completing one revolution, the remaining 40% of the radial range is moved in the same manner, thereby stirring the entire bottom of the tank 1. In addition, in pattern B, as shown in the lower part of the figure, the stirring robot does not divide its travel section in the radial direction, but instead changes the amount of forward and backward travel strokes to perform stirring, and the stirring robot moves from the center of the bottom of tank 1. Start, move forward to around tank 1, then move backwards,
While repeatedly moving forward, it moves in the circumferential direction while making large and small changes in a triangular wave shape, stirring the entire bottom of the tank.
このようにして、タンク１の底部にスラッジが沈降して
堆積するのを防止するが、この攪拌ロボットの位置の検
出が非常に簡単な構造でしかも極めて高い精度で行われ
るので、攪拌ロボットの走行制御が能率的に行われ、そ
の設備費、動力費、人件費などを低減させることができ
る。In this way, sludge is prevented from settling and accumulating at the bottom of the tank 1, but since the position of the stirring robot is detected with a very simple structure and with extremely high precision, the movement of the stirring robot is prevented. Control is performed efficiently, and equipment costs, power costs, personnel costs, etc. can be reduced.
本発明に係るタンク内撹拌ロボットは前記の通り構成さ
れており、タンク内におけるロボット本体の位置を簡単
な構造で精度良く検出することができるので、ロボット
本体の走行制御が極めて安価に、能率的に行われる。The in-tank stirring robot according to the present invention is configured as described above, and the position of the robot body in the tank can be detected with high accuracy with a simple structure, so the movement control of the robot body can be performed extremely inexpensively and efficiently. It will be held in
第１図は本発明の一実施例に係るタンク内撹拌ロボント
の正面図、第２図はその要部斜視図、第３図はそのブロ
ック図、第４図および第５図はその作用説明図である。
ｌ・・・タンク、 ２・・・屋根、
７・−・攪拌ロボット、
１３．１８．１９・・・ロータリエンコーダ、１４．１
６・・・ヒンジ、
１７・・・下部軸。
１５・・・上部軸、Fig. 1 is a front view of an in-tank stirring robot according to an embodiment of the present invention, Fig. 2 is a perspective view of its main parts, Fig. 3 is a block diagram thereof, and Figs. 4 and 5 are explanatory diagrams of its operation. It is. l... Tank, 2... Roof, 7... Stirring robot, 13.18.19... Rotary encoder, 14.1
6...Hinge, 17...Lower shaft. 15... Upper axis,
Claims (1)
と、結合軸に第二にロータリエンコーダが装着されたヒ
ンジを介して上記中心軸と上下方向に屈伸自在に結合さ
れた上部軸と、該上部軸とヒンジを介して上下方向に屈
伸自在に結合されるとともに上記タンクの底部を走行す
るロボット本体を挟持する下部軸とを備えたことを特徴
とするタンク内撹拌ロボット。A central axis of the tank to which a first rotary encoder is attached; an upper shaft coupled to the central axis via a hinge to which a second rotary encoder is attached so as to be freely bendable and extensible in the vertical direction; An in-tank stirring robot characterized by comprising a lower shaft which is connected to the shaft via a hinge so as to be vertically flexible and which holds a robot main body that runs along the bottom of the tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2116811A JPH0416227A (en) | 1990-05-08 | 1990-05-08 | Stirring robot in tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2116811A JPH0416227A (en) | 1990-05-08 | 1990-05-08 | Stirring robot in tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0416227A true JPH0416227A (en) | 1992-01-21 |
Family
ID=14696236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2116811A Pending JPH0416227A (en) | 1990-05-08 | 1990-05-08 | Stirring robot in tank |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0416227A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7567266B2 (en) | 2004-04-30 | 2009-07-28 | Hewlett-Packard Development Company, L.P. | Media labeling system |
-
1990
- 1990-05-08 JP JP2116811A patent/JPH0416227A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7567266B2 (en) | 2004-04-30 | 2009-07-28 | Hewlett-Packard Development Company, L.P. | Media labeling system |
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