Device for repairing anticorrosive coating of in-service storage tank body

Abstract

The application provides a device for repairing anticorrosive coating of an in-service storage tank body, which comprises a high-pressure water rust removal robot and a spraying robot, the high-pressure water rust removal robot is used for rust removal of the in-service storage tank body, and the spraying robot is used for anticorrosive coating of the in-service storage tank body after rust removal; the high-pressure water rust removal robot comprises a high-pressure water rust removal robot body, a high-pressure water pipeline arranged on the robot body and a nozzle assembly in communication with the high-pressure water pipeline; the spraying robot comprises a spraying robot body, a spraying execution unit and a spraying connecting mechanism, and the spraying execution unit is connected with the spraying robot body through the spraying connecting mechanism. The high-pressure water rust removal robot realizes mechanical rust removal of the in-service storage tank wall, guarantees that the rust layer is completely removed, reduces the risk of manual operation and reduces economic losses. The spraying robot realizes mechanical anticorrosive coating of the in-service storage tank wall, guarantees the coating quality, meets the anticorrosive coating standard requirement and reduces the risk of manual operation.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of crude oil (gas) storage tank, and particularly relates to a device for repairing the anticorrosive layer of an in-service storage tank body. BACKGROUND

[0002] With the continuous development of the petroleum industry, the storage capacity of oil products is increasing, and more and more crude oil (gas) storage tanks are being applied. Due to the relatively complex nature of oil and its strong corrosiveness, the outer wall of the storage tank is exposed to the natural environment for a long time, and as the in-service life of the storage tank increases, the storage tank will reach the maintenance life standard, and the outer wall of the crude oil storage tank needs to be repainted. Some storage tanks are in service, so there is no way to use sand blasting to remove the old anticorrosive layer of the storage tank.

[0003] For the repainting of in-service crude oil storage tanks, the old anticorrosive layer of the storage tank outer wall needs to be removed by high-pressure water, and then the outer anticorrosive layer needs to be repainted. The existing sand blasting technology requires that the crude oil storage tank must stop operation, and then the crude oil tank is cleaned, and manual sand blasting is used, which increases the maintenance cost, and the quality of sand blasting cannot be guaranteed. The existing painting technology is manual painting, which is uneven in quality and harmful to workers' health.

[0004] In view of the above problems, it is necessary to provide a device for repairing the anticorrosive layer of an in-service storage tank body, which is reasonable in design and can effectively improve the above problems. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art, and provides a device for repairing the anticorrosive layer of an in-service storage tank body.

[0006] The present application provides a device for repairing the anticorrosive layer of an in-service storage tank body, which comprises a high-pressure water rust removal robot and a spraying robot, the high-pressure water rust removal robot is used for rust removal of the in-service storage tank body, and the spraying robot is used for anticorrosive layer coating of the rust-removed in-service storage tank body; wherein,

[0007] The high-pressure water rust removal robot comprises a high-pressure water rust removal robot body, a high-pressure water pipeline arranged on the high-pressure water rust removal robot body, and a nozzle assembly in communication with the high-pressure water pipeline;

[0008] The spraying robot comprises a spraying robot body, a spraying execution unit and a spraying connecting mechanism, and the spraying execution unit is connected with the spraying robot body through the spraying connecting mechanism.

[0009] Optionally, the high-pressure water rust removal robot further comprises a high-pressure water recovery disc provided with a high-pressure water inlet pipeline interface and a high-pressure water return pipeline interface, the high-pressure water pipeline comprises a high-pressure water inlet pipeline and a high-pressure water return pipeline;

[0010] The first end of the high-pressure water inlet pipeline is in communication with the high-pressure water inlet pipeline interface, and the second end of the high-pressure water inlet pipeline is connected with the high-pressure water power unit.

[0011] The first end of the high-pressure water return pipeline is in communication with the high-pressure water return pipeline interface, and the second end of the high-pressure water return pipeline is connected with the vacuum power unit.

[0012] Optionally, the nozzle assembly is embedded in the high-pressure water recovery disc, the nozzle assembly comprises a spray rod and a plurality of nozzles arranged on the spray rod, and the spray rod is in communication with the high-pressure water inlet pipeline interface and the plurality of nozzles respectively.

[0013] Optionally, the spray rod comprises a first spray rod and a second spray rod arranged in cross, and the water outlet of the nozzle is at a preset angle, so that the water sprayed from the nozzle can drive the spray rod to rotate.

[0014] Optionally, the high-pressure water rust removal robot further comprises a first walking mechanism, the first walking mechanism comprises a first walking wheel and a first magnetic adsorption assembly, the first walking wheel is arranged on both sides of the high-pressure water rust removal robot body, and the first magnetic adsorption assembly is arranged on the inner side of the first walking wheel; or,

[0015] The high-pressure water rust removal robot further comprises a first video monitoring unit, the first video monitoring unit is used for transmitting the high-pressure water rust removal operation image of the high-pressure water rust removal robot to a remote terminal, so that the high-pressure water rust removal operation condition of the high-pressure water rust removal robot can be monitored remotely in real time, and the video image can be stored and recorded to form a construction basis for subsequent reference.

[0016] Optionally, the spraying execution unit comprises a spray gun assembly, a spray gun fixing piece, a spray gun rack and a translation driving mechanism.

[0017] The spray gun assembly is arranged on the spray gun fixing piece, and the spray gun fixing piece is arranged on the spray gun rack.

[0018] The first end of the translation driving mechanism is connected with the spraying connection mechanism, the second end of the translation driving mechanism is connected with the spray gun rack, and the translation driving mechanism drives the spray gun rack to translate.

[0019] Optionally, the spray gun assembly comprises a plurality of spray guns, the plurality of spray guns are arranged in a linear type in a spaced manner, and the spraying angles of the plurality of spray guns are consistent.

[0020] Optionally, the spraying robot body further comprises a vertical driving mechanism connected with the spraying connecting mechanism, the vertical driving mechanism drives the spraying connecting mechanism to ascend and descend, thereby driving the spraying gun holder to ascend and descend.

[0021] Optionally, the spraying robot further comprises a second walking mechanism, the second walking mechanism comprises a second walking wheel and a second magnetic adsorption assembly, the second walking wheel is arranged on both sides of the spraying robot body, and the second magnetic adsorption assembly is arranged on the inner side of the second walking wheel.

[0022] The spraying robot further comprises a second video monitoring unit, the second video monitoring unit is used for transmitting the spraying operation image of the spraying robot to a remote terminal, the spraying operation condition of the spraying robot can be monitored in real time, the video image can be stored and recorded, construction basis is formed, and subsequent reference is prepared.

[0023] Optionally, the spraying execution unit further comprises a spraying protection device and a dustproof device, the spraying protection device is arranged on the spraying gun holder, and the dustproof device is arranged on the translation driving mechanism.

[0024] The device for repairing the anticorrosive layer of the in-service storage tank body provided by the embodiment of the application realizes the mechanical high-pressure water rust removal of the in-service storage tank wall by the high-pressure water rust removal robot, ensures that the rust layer is completely removed, exposes the original anchor pattern of the in-service storage tank wall, reduces the risk of manual operation, and saves the economic loss caused by the stop of the operation of the in-service storage tank and the cleaning of the tank. The mechanical anticorrosive layer coating of the in-service storage tank wall is realized by the spraying robot, the coating quality is ensured, the anticorrosive layer standard requirement is met, and the risk of manual operation is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Fig. 1 is a top view of the high-pressure water rust removal robot in an embodiment of the application;

[0026] Figure 2 Fig. 2 is a side view of the high-pressure water rust removal robot in another embodiment of the application;

[0027] Figure 3 Fig. 3 is a front view of the high-pressure water rust removal robot in another embodiment of the application;

[0028] Figure 4 Fig. 4 is a structural schematic view of the nozzle assembly in the high-pressure water rust removal robot in another embodiment of the application;

[0029] Figure 5 Fig. 5 is a partial side view of the spraying robot in another embodiment of the application;

[0030] Figure 6This is a three-dimensional schematic diagram of a spraying robot according to another embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the spray gun fan-shaped overlap in a spraying robot according to another embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the operation and walking mode of the spraying robot in another embodiment of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] This invention provides a device for repairing the anti-corrosion coating of in-service storage tanks, such as... Figures 1 to 5 As shown, the anti-corrosion coating repair device includes a high-pressure water rust removal robot 100 and a spraying robot 200. The high-pressure water rust removal robot 100 is used to remove rust from the tank body of the in-service storage tank, and the spraying robot 200 is used to apply an anti-corrosion coating to the tank body of the in-service storage tank after rust removal.

[0035] The high-pressure water rust removal robot 100 includes a high-pressure water rust removal robot body 110, a high-pressure water pipeline (not shown in the figure) installed in the high-pressure water recovery pan 120 of the high-pressure water rust removal robot, and a nozzle assembly (not shown in the figure) connected to the high-pressure water pipeline.

[0036] The painting robot 200 includes a painting robot body 210, a painting execution unit 220, and a painting connection mechanism 230. The painting execution unit 220 is connected to the connection mechanism 211 on the painting robot body 210 through the painting connection mechanism 230. In this embodiment, the painting connection mechanism 230 and the connection mechanism 210 on the painting robot body form a quick-installation painting connection mechanism.

[0037] The device for repairing the anti-corrosion coating of in-service storage tanks according to embodiments of the present invention achieves mechanized high-pressure water rust removal from the tank walls using a high-pressure water rust removal robot, ensuring thorough removal of rust and exposing the original anchor pattern on the tank walls, reducing the risks associated with manual operations. This in-service storage tank exterior wall repair device can also save on economic losses caused by tank downtime and cleaning. Furthermore, the device utilizes a spraying robot to achieve mechanized application of the anti-corrosion coating to the tank walls, ensuring coating quality and meeting anti-corrosion standard requirements, while also reducing the risks associated with manual operations.

[0038] For example, such as Figure 1 and Figure 3As shown, the high-pressure water rust removal robot 100 further comprises a high-pressure water recovery disc 120, which is provided with a high-pressure water inlet pipeline interface 130 and a high-pressure water return pipeline interface 140 (distributed on both sides of the water inlet pipeline interface 130, at the edge of the high-pressure water recovery disc 120). The high-pressure water pipeline comprises a high-pressure water inlet pipeline and a high-pressure water return pipeline. As shown in Figure 1 As shown, the first end of the high-pressure water inlet pipeline is in communication with the high-pressure water inlet pipeline interface 130, and the second end of the high-pressure water inlet pipeline is connected with a high-pressure water power unit (not marked in the figure). The high-pressure water power unit provides super-high pressure water, which enters the nozzle assembly in sequence through the high-pressure water inlet pipeline and the high-pressure water inlet pipeline interface 130. When the super-high pressure water is sprayed out, it can drive the nozzle assembly to rotate at high speed, thereby realizing high-pressure water rust removal operation on the in-service storage tank body.

[0039] It should be noted that in the present embodiment, the high-pressure water inlet pipeline interface 130 is arranged at the center position of the high-pressure water recovery disc 120, and the high-pressure water power unit adopts a skid-mounted super-high pressure water jet unit. Water is pressurized to 2800 bar by the super-high pressure water jet unit and then enters the high-pressure water inlet pipeline. Other devices can also be used as long as they can form high-pressure water, and the present embodiment is not limited in this regard.

[0040] As shown in Figure 1 and Figure 3 As shown, the first end of the high-pressure water return pipeline is in communication with the high-pressure water return pipeline interface 140, and the second end of the high-pressure water return pipeline is connected with a vacuum power unit (not marked in the figure). During the rotation of the nozzle assembly, the waste water reaches the edge of the high-pressure water recovery disc 120 through centrifugal motion. At this time, the vacuum power unit forms a vacuum negative pressure to recover the waste water, which enters the high-pressure water return pipeline, thereby achieving the purpose of waste water recovery.

[0041] It should be noted that in the present embodiment, two high-pressure water return pipeline interfaces 140 are arranged at the edge region of the high-pressure water recovery disc 120. The first end of the high-pressure water return pipeline is in communication with the high-pressure water return pipeline interface 140, and two high-pressure water return pipelines are connected at the edge region of the high-pressure water recovery disc 120. The arrangement of the high-pressure water return pipeline interface 140 at the edge region of the high-pressure water recovery disc 120 can better recover the waste water. In the present embodiment, the number of high-pressure water return pipeline interfaces 140 is not limited, and can be arranged according to actual needs.

[0042] It should be further noted that in the present embodiment, the vacuum power unit can be a vacuum recovery pump. The vacuum recovery pump can form a vacuum negative pressure to recover the waste water. Other devices can also be used as long as they can achieve waste water recovery, and the present embodiment is not limited in this regard.

[0043] For example, as shown in Figure 4As shown, the nozzle assembly is embedded in the high-pressure water recovery disc 120, the nozzle assembly includes a spray rod 190 and a plurality of nozzles (not labeled in the figure) arranged on the spray rod, the spray rod 190 is in communication with the high-pressure water inlet pipe interface 130 and the plurality of nozzles respectively, that is, one end of the spray rod 190 is connected with the high-pressure water inlet pipe interface 130, and the other end of the spray rod 190 is connected with the plurality of nozzles, so that the ultra-high pressure water enters the spray rod 190 through the high-pressure water inlet pipe interface 130, and then is sprayed out through the nozzles.

[0044] Further preferably, as Figure 4 As shown, the spray rod 190 includes a first spray rod 191 and a second spray rod 192 arranged in a cross shape, and the first spray rod 191 and the second spray rod 192 are movable, by adjusting the positions of the first spray rod 191 and the second spray rod 192, the water outlets of the nozzles can be arranged at a preset angle, so that the water sprayed out of the nozzles can drive the spray rod 190 to rotate. In this embodiment, the spray rod 190 is arranged in a cross shape, that is, the first spray rod 191 and the second spray rod 192 are arranged perpendicular to each other, and three to five nozzles are arranged on each spray rod 190 in a symmetrical manner, for example, three nozzles are arranged symmetrically on the left and right sides of the first spray rod 191, and four nozzles are arranged symmetrically on the upper and lower sides of the second spray rod 192. The water outlets of the nozzles are arranged at a preset angle, so that when the ultra-high pressure water is sprayed out of the water outlets of the nozzles, the cross-shaped spray rod 190 can be driven to rotate, achieving the effect of rust removal.

[0045] It should be noted that the number of nozzles is not specifically limited in this embodiment, and can be selected according to actual needs. The angle of the nozzle water outlet is not limited in this embodiment, and can be adjusted according to the size of the grinding disc and the ultra-high pressure water spraying pressure, as long as the water sprayed out of the nozzle can drive the spray rod 190 to rotate, and the rust removal level meets the relevant national standard requirements. The connection mode of the first spray rod 191 and the second spray rod 192 is not specifically limited in this embodiment, that is, the spray rod 190 is not limited to the cross shape in this embodiment, but needs to be arranged symmetrically.

[0046] For example, the high-pressure water rust removal robot 100 further includes a first video monitoring unit (not shown in the figure), which collects work images through a camera and transmits them to a ground computer screen, so as to monitor whether the high-pressure water rust removal robot is working normally in real time, and can remotely control the high-pressure water rust removal robot to stop working in time if an abnormality is found. By using the first video monitoring unit, the working condition of the high-pressure water rust removal robot can be monitored in real time without going to the construction site, which saves time and effort, and can remotely control the high-pressure water rust removal robot to stop working in time if an abnormality is found, avoiding the occurrence of safety accidents, and at the same time, the video images are stored and recorded, forming a construction basis for subsequent review.

[0047] For example, as Figures 1 to 3As shown, the high-pressure water rust removal robot 100 further comprises a first walking mechanism 150, the first walking mechanism 150 comprises a first walking wheel 151 and a first magnetic adsorption assembly (not labeled in the figure), the first walking wheel 151 is arranged on both sides of the high-pressure water rust removal robot body 110, and the second magnetic adsorption assembly is arranged on the inner side of the first walking wheel 151.

[0048] Specifically, in the embodiment, as shown in Figure 1 and Figure 3 , the first walking wheel 151 is divided into two groups, which are left and right walking wheels arranged on both sides of the high-pressure water rust removal robot body 110, and each group of walking wheels has two wheels. A first magnetic adsorption assembly is arranged on one side of the first walking wheel 151 towards the in-service storage tank body, and the first magnetic adsorption assembly mainly adopts strong magnetic adsorption, the overall load weight is 80 Kg on the dry wall surface, the load on the relatively wet and slippery wall surface is about 40 Kg, and the obstacle jumping ability is 15 mm (inclusive). The walking wheel using strong electric adsorption can adsorb the high-pressure water rust removal robot on the side wall of the in-service storage tank body, so that the high-pressure water rust removal robot can better carry out rust removal work.

[0049] As shown in Figure 1 , the high-pressure water rust removal robot 100 further comprises a rust removal electric control system 160, the rust removal electric control system 160 can control the walking speed of the high-pressure water rust removal robot 100 to be adjustable, and the maximum speed is 14 m / min. Considering the stability of passing through the tank wall weld, the operation walking speed is controlled to be below 6 m / min. In the embodiment, the walking mode of the high-pressure water rust removal robot is uniform speed walking, the walking speed is adjustable, and is generally about 2 m / min (related to the pressure value and the tank body paint thickness). The operation width is 300 mm. According to this speed, it is obtained that the rust removal area per hour is 36 square meters, but actually, due to the need for lane changing in a distance and the need for the overlap of the upper and lower striking surfaces, the actual rust removal area is 25 square meters per hour. The high-pressure water rust removal robot of the present application replaces the current manual handheld sand blasting or water sand blasting operation, ensures the rust removal quality of the in-service storage tank wall, and can better ensure the safety of the operation.

[0050] As shown in Figures 1 to 3 , the high-pressure water rust removal robot 100 further comprises a first hoisting assembly 170 arranged on the high-pressure water rust removal robot body 110. When rust removal is needed for the in-service storage tank wall, the first hoisting assembly 170 can be used to install a fall arrestor, move the high-pressure water rust removal robot to the corresponding position of the in-service storage tank wall, and carry out high-pressure water rust removal operation to prevent the equipment from falling accidentally and causing danger.

[0051] As shown in Figure 2 and Figure 3As shown, the high-pressure water rust removal robot 100 further comprises a brush 180 arranged at the bottom of the high-pressure water recovery disc 120, which enhances the adaptability to the curvature of the storage tank and facilitates the recovery of the high-pressure water and waste residue after rust removal by forming negative pressure in the high-pressure water recovery disc 120 during high-pressure water recovery. It should be noted that different brushes are selected according to the size of the pipe body diameter for different diameter tank bodies, and the damage of the brush is checked in time after each operation is completed. Once the brush has a relatively large slope and spreads to the surrounding, the brush needs to be replaced, which does not affect the normal operation of the brush.

[0052] As shown in the example, Figure 5 As shown, the spraying execution unit 220 of the spraying robot 200 comprises a spray gun assembly 221, a spray gun fixing member 222, a spray gun gun rack 223 and a translation driving mechanism 224. The spray gun assembly 221 is arranged on the spray gun fixing member 222, and the spray gun fixing member 222 is arranged on the spray gun gun rack 223. In this embodiment, the spray gun fixing member 222 can be a spray gun fixing pipe, and the spray gun assembly 221 is fixed on the spray gun fixing pipe, and the spray gun fixing pipe is fixed on the spray gun gun rack 223.

[0053] As shown in the example, Figure 5 As shown, the first end of the translation driving mechanism 224 is connected with the spraying connection mechanism 230, the second end of the translation driving mechanism 224 is connected with the spray gun gun rack 223, and the translation driving mechanism 224 drives the spray gun gun rack 223 to translate. In this embodiment, the translation driving mechanism 224 is a sliding table, which realizes the translation of the spray gun gun rack 223, and facilitates the adjustment of the position of the paint spraying width according to the requirements of the working environment.

[0054] As shown in the example, Figure 5 As shown, the spray gun assembly 221 comprises a plurality of spray guns (not labeled in the figure), which are arranged in a linear type with a certain interval and have consistent spraying angles. In this embodiment, the spray gun assembly 221 comprises two spray guns, which are installed on the spray gun fixing member 222 and arranged in a linear type with a certain interval, and have consistent spraying angles. The spray gun nozzles are perpendicular to the surface of the storage tank body, and the distance between the spray guns is adjusted according to the curvature of the surface of the storage tank to ensure that the overlapping width of the spray guns is 20mm-50mm during operation. The overlapping width can also be adjusted by adjusting the distance between the spray guns according to the thickness requirement of the coating.

[0055] As shown in the example, Figure 5As shown, the spraying robot body 210 further comprises a vertical driving mechanism 240 connected with the spraying connecting mechanism 230, which drives the spraying connecting mechanism 230 to lift, and in turn drives the spraying gun holder 223 to lift. In the embodiment, the vertical driving mechanism 240 is a lifting platform arranged on the spraying robot body 210, which can control the lifting of the spraying gun holder, that is, the distance between the spraying gun and the surface of the in-service storage tank can be adjusted conveniently, so that the paint can be atomized completely, the spraying quality is ensured, and the spraying fan width is controlled. Specifically, according to the surface curvature of the working storage tank, the distance between the spraying gun and the working surface is adjusted, and the overlapping width of the spraying gun between the fans is ensured to be 20mm-50mm during working.

[0056] As shown in Figure 5 and Figure 6 The spraying robot 200 further comprises a second walking mechanism 250, which comprises second walking wheels 251 and a second magnetic adsorption assembly (not shown in the figure), the second walking wheels 251 are arranged on both sides of the spraying robot body 210, and the second magnetic adsorption assembly is arranged on the inner side of the second walking wheels 251, and the distance between the second magnetic adsorption assembly and the surface of the storage tank is adjustable.

[0057] Specifically, in the embodiment, the second walking wheels 251 are divided into two groups, which are left walking wheels and right walking wheels arranged on both sides of the spraying robot body 210, and each group of walking wheels has two wheels. The second magnetic adsorption assembly is arranged on the inner side of the second walking wheels 251, and the second magnetic adsorption assembly mainly adopts strong electromagnetic adsorption. The walking wheels adopting strong electromagnetic adsorption can adsorb the spraying robot on the sidewall of the in-service storage tank, so that the spraying robot can better carry out the work of coating the anticorrosive layer.

[0058] As shown in and

[0059] As shown in Figure 5 and Figure 6As shown, the spraying robot 200 further comprises a spraying electric control system 260 and a video monitoring unit 280, the spraying electric control system 260 can control the walking of the spraying robot 200, the up-down and left-right movement of the spraying gun rack 223 and the start-stop of the spraying gun, the video monitoring unit 280 collects the working image through the camera and transmits it to the ground computer screen, which can monitor the spraying film quality in real time, whether there are phenomena such as missing coating, pinhole, unevenness, sagging, etc., if abnormality is found, the work can be stopped in time and the video image can be stored and recorded to form the construction basis for subsequent review. The second walking mechanism 250 of the spraying robot 200 is a straight walking mode, and the walking speed is 0-20 m / min.

[0060] As shown in the figure, Figure 5 As shown, the spraying robot 200 further comprises a second hoisting assembly 270, which is arranged on the spraying robot body 210 and is composed of two anti-falling devices, wherein the anti-falling device is arranged in a Y-shaped configuration and can be automatically adjusted in length. When the in-service storage tank wall needs to be coated with a corrosion-resistant layer, the anti-falling device can be installed through the second hoisting assembly 270, the spraying robot 200 can be moved to the corresponding position of the newly-built storage tank wall, and the coating work of the corrosion-resistant layer can be carried out to prevent the equipment from falling accidentally and causing danger.

[0061] The spraying robot 200 of the present application is equipped with a spraying execution unit 220 on the chassis, which is connected to a spraying machine through a tee joint. The paint in the spraying pump is punched into the tee joint by an air compressor, and two spraying guns are used for spraying work. During the spraying work, Figure 8 As shown, the vertical direction is adjusted to change lanes, the overlap width can be controlled between 20mm-50mm, and the specific width can be determined according to the site construction conditions, which is not limited in the embodiment. The spraying robot of the present application replaces the current manual spraying work, ensures the uniformity of the corrosion-resistant layer coating thickness of the storage tank wall, and achieves the standard requirements of quality, higher coating quality and efficiency, and reduces the risk of manual work.

[0062] The present application solves the problem of completely cleaning the stored crude oil or chemicals in the tank during the maintenance of the external corrosion-resistant layer of the in-service storage tank, and saves about 1.2 million yuan of tank cleaning cost for the external corrosion-resistant layer maintenance of each 100,000 cubic meter storage tank.

[0063] As shown in the figure, Figure 7 As shown, when the spraying robot 200 works, taking the 100,000 cubic meter in-service storage tank wall of the storage tank 10 as an example, the distance between the gun mouth of the spraying robot 200 and the working surface of the storage tank wall is adjusted to 400mm, the overlapping width of the two spraying guns is 50mm, and the total width of the two spraying guns is 1100mm.

[0064] In the embodiment, assuming that the spraying process requires a wet film thickness h = 200 μm, a single nozzle 1 minute flow rate Q = Sh, and a spraying efficiency S = Vt x B, B = 600 mm, the robot walking speed V = Q / (h x t x B) = 1.8 / (0.0002 x 1 x 0.6) = 15 m / min. Therefore, the spraying efficiency S = Vt x B, in the embodiment, S = 9 = 6.25 m2 / min = 540 m2 / h (the height difference of 17 mm between the center and the two ends is manually adjustable, and the height difference is adjusted to 0 mm), which is a theoretical calculation. The actual efficiency may deviate due to the environment, operation, overlap width, spraying lane change, and the like. The paint spraying flow rate can be adjusted according to different paint film thickness requirements.

[0065] It should be noted that in the device for repairing the anticorrosive layer of an in-service storage tank body, the high-pressure water rust removal robot 100 and the spraying robot 200 are both remotely controlled, and are waterproof and explosion-proof.

[0066] It can be understood that the above embodiments are only exemplary embodiments for illustrating the principles of the present application, and the present application is not limited thereto. Various modifications and improvements can be made by those of ordinary skill in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered to be within the protection scope of the present application.

Claims

1. An apparatus for in-service repair of a corrosion protection coating of a storage tank shell, characterized in that, The device comprises a high-pressure water rust removal robot and a spraying robot, the high-pressure water rust removal robot is used for rust removal of an in-service storage tank body, and the spraying robot is used for anticorrosive coating of the in-service storage tank body after rust removal. The high-pressure water rust removal robot comprises a high-pressure water rust removal robot body, a high-pressure water pipeline arranged on the high-pressure water rust removal robot body, and a nozzle assembly in communication with the high-pressure water pipeline. The spraying robot comprises a spraying robot body, a spraying execution unit, and a spraying connecting mechanism, the spraying execution unit is connected with the spraying robot body through the spraying connecting mechanism. The high-pressure water rust removal robot further comprises a high-pressure water recovery disc, the high-pressure water recovery disc is provided with a high-pressure water inlet pipeline interface and a high-pressure water return pipeline interface, the high-pressure water pipeline comprises a high-pressure water inlet pipeline and a high-pressure water return pipeline. The first end of the high-pressure water inlet pipeline is in communication with the high-pressure water inlet pipeline interface, and the second end of the high-pressure water inlet pipeline is connected with a high-pressure water power unit. The first end of the high-pressure water return pipeline is in communication with the high-pressure water return pipeline interface, and the second end of the high-pressure water return pipeline is connected with a vacuum power unit. The nozzle assembly is embedded in the high-pressure water recovery disc, the nozzle assembly comprises a spray rod and a plurality of nozzles arranged on the spray rod, and the spray rod is in communication with the high-pressure water inlet pipeline interface and the plurality of nozzles respectively. The spraying execution unit comprises a spray gun assembly, a spray gun fixing piece, a spray gun rack, and a translation driving mechanism. The spray gun assembly is arranged on the spray gun fixing piece, and the spray gun fixing piece is arranged on the spray gun rack. The first end of the translation driving mechanism is connected with the spraying connecting mechanism, the second end of the translation driving mechanism is connected with the spray gun rack, and the translation driving mechanism drives the spray gun rack to translate. The spray gun assembly comprises a plurality of spray guns, the plurality of spray guns are distributed in a linear type at intervals, and the spraying angles of the plurality of spray guns are adjustable.

2. The apparatus for repair of corrosion coating of in-service storage tank shell according to claim 1, characterized in that, The spray rod comprises a first spray rod and a second spray rod arranged in a cross manner, and the water outlets of the nozzles are at a preset angle, so that the water sprayed from the nozzles can drive the spray rod to rotate.

3. The apparatus for repair of corrosion coating of in-service storage tank shell according to claim 1, characterized in that, The high-pressure water rust removal robot further comprises a first walking mechanism, the first walking mechanism comprises a first walking wheel and a first magnetic adsorption assembly, the first walking wheel is arranged on both sides of the high-pressure water rust removal robot body, and the first magnetic adsorption assembly is arranged on the inner side of the first walking wheel. The high-pressure water rust removal robot further comprises a first video monitoring unit, the first video monitoring unit is used for transmitting the high-pressure water rust removal operation image of the high-pressure water rust removal robot to a remote terminal, can remotely monitor the high-pressure water rust removal operation condition of the high-pressure water rust removal robot in real time, and stores and records the video image, forms a construction basis, and is ready for subsequent review.

4. The apparatus for repairing the anticorrosive coating of an in-service storage tank shell according to any one of claims 1 to 3, characterized in that, The spraying robot body further comprises a vertical driving mechanism, the vertical driving mechanism is connected with the spraying connecting mechanism, the vertical driving mechanism drives the spraying connecting mechanism to lift, and further drives the spray gun rack to lift.

5. The apparatus for repairing the anticorrosive coating of an in-service storage tank shell according to any one of claims 1 to 3, characterized in that, The spraying robot further comprises a second walking mechanism, the second walking mechanism comprising second walking wheels and a second magnetic adsorption assembly, the second walking wheels being arranged on both sides of the spraying robot body, and the second magnetic adsorption assembly being arranged on the inner side of the second walking wheels; or, The spraying robot further comprises a second video monitoring unit, the second video monitoring unit being used for transmitting the spraying operation image of the spraying robot to a remote terminal, and being capable of remotely monitoring the spraying operation condition of the spraying robot in real time, storing and recording the video image, forming a construction basis, and being ready for subsequent review.

6. The apparatus for repair of corrosion coating of in-service storage tank shell according to any one of claims 1 to 3, characterized in that, The spraying execution unit further comprises a spraying protection device and a dustproof device, the spraying protection device being arranged on the spray gun holder, and the dustproof device being arranged on the translation driving mechanism.

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