In-service storage tank bottom plate detection robot putting and recycling device and using method thereof

Abstract

The embodiment of the invention provides an in-service storage tank bottom plate detection robot putting and recycling device and a using method thereof. The device comprises a connecting pipeline, a passing indicator, a safety valve, a receiving and dispatching barrel, a blow-down valve, an emptying valve, a blind plate and a control module. The first end of the connecting pipeline is connected with a receiving and sending cylinder through a safety valve. The receiving and sending cylinder is provided with a blind plate. The second end of the connecting pipeline is connected with a front end flange of a fluid pipeline root valve on a storage tank bottom ring wall plate during use; moving the robot into the storage tank, moving the robot out of the storage tank and passing through a front-end flange are detected through an indicator detection bottom plate; the blow-down valve and the emptying valve are mounted on the receiving and sending cylinder; the control module controls the bottom plate to detect movement and detection operation of the robot. According to the embodiment of the invention, the base plate detection robot is prevented from working in a zero-area environment when being put in and recycled, the putting and recycling process of the base plate detection robot is simplified, the safety in the working process is improved, the cost of the base plate detection robot is reduced, and the application range of the base plate detection robot is expanded.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of detection technology, and specifically to a robot delivery and recovery device for detecting the bottom plate of an in-service storage tank and a method for using the same. Background Art

[0002] A large number of metal storage tanks for crude oil, refined oil and hazardous chemicals are used in the petroleum, petrochemical and storage industries for the storage and production of oil products or chemical raw materials. Most of these media are flammable, explosive and corrosive. Chemical storage and transportation has the characteristics of large storage capacity of a single tank and a large number of tanks. Once an accident occurs, it will cause significant economic losses and affect the safety of people's lives and property.

[0003] The bottom plate of the tank is the most corroded area in the tank and is the key area for tank maintenance and inspection. Tank maintenance usually requires stopping use and cleaning the tank before the existing magnetic flux leakage, ultrasonic, eddy current and other detection equipment can be used to detect the tank bottom. The shutdown inspection is not only very expensive, but also takes several months. Online inspection of the tank bottom plate is currently the only inspection method that can be used without stopping the production of the tank. The bottom plate inspection robot can enter the inside of the tank and complete the inspection of the bottom plate defects without stopping the production of the tank. The manhole of the tank is located on the bottom ring wall and the top of the tank. The scheme adopted by the existing large-scale crude oil storage tank bottom plate corrosion inspection robot in service is that the bottom plate inspection robot is put into the tank through the manhole on the top of the tank and recovered from the manhole on the top of the tank.

[0004] However, there is a large amount of gas phase space on the top of the tank. When the manhole on the tank top is opened, an explosive gas mixture is easily formed. The deployment and recovery operation environment of the bottom plate inspection robot belongs to the 0 zone operation environment. The deployment and recovery process requires the use of cumbersome explosion-proof processes and complex explosion-proof equipment. The bottom plate inspection robot is a live device. The operation in the 0 zone environment is extremely dangerous and is prone to fire and explosion accidents. In addition, there is a floating roof inside the arch of the internal floating roof tank. The area between the floating roof and the arch belongs to the 0 zone operation environment. Personnel cannot enter the area between the floating roof and the arch of the in-service internal floating roof tank. According to the existing deployment and recovery methods, the deployment and recovery of the bottom plate inspection robot cannot be realized, and the bottom plate inspection robot cannot be used in the internal floating roof tank. Therefore, the bottom plate inspection of the tank urgently needs a bottom plate inspection robot deployment and recovery device for a non-0 zone operation environment. Summary of the invention

[0005] In view of the defects existing in the prior art, an embodiment of the present invention provides a robot deployment and recovery device for detecting the bottom plate of an in-service storage tank and a method for using the same.

[0006] An embodiment of the present invention provides a device for launching and recovering a bottom plate inspection robot for an in-service storage tank, comprising: a connecting pipe, a passing indicator, a safety valve, a transmitting and receiving tube, a drain valve, a vent valve, a blind plate and a control module; wherein: the first end of the connecting pipe is connected to the first end of the safety valve, the second end of the safety valve is connected to the first end of the transmitting and receiving tube, and the second end of the transmitting and receiving tube is equipped with the blind plate; the second end of the connecting pipe is used to connect to the front end flange of the root valve of the fluid pipeline on the bottom ring wall plate of the storage tank when in use; the passing indicator is used to detect that the bottom plate inspection robot moves into the storage tank and detects that the bottom plate inspection robot moves out of the storage tank and passes through the front end flange; the drain valve is installed at the bottom of the transmitting and receiving tube in the use state, and the vent valve is installed at the top of the transmitting and receiving tube in the use state; the control module is used to control the movement and inspection operation of the bottom plate inspection robot.

[0007] According to an embodiment of the present invention, a device for deploying and recovering a bottom plate inspection robot for an in-service tank is provided, wherein a permanent magnet is installed on the bottom plate inspection robot; the passing indicator detects the bottom plate inspection robot moving into the tank and the bottom plate inspection robot moving out of the tank and passing through the front end flange by detecting the magnetic induction intensity of the permanent magnet on the bottom plate inspection robot.

[0008] According to an embodiment of the present invention, a device for deploying and recovering a bottom plate inspection robot for an in-service storage tank is provided. The indicator is installed on the connecting pipe, the safety valve or the transmitting and receiving tube. The bottom plate inspection robot is judged to move into the storage tank, out of the storage tank and pass through the front end flange according to the change of the corresponding magnetic induction intensity.

[0009] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the passing indicator is installed in a magnetic suction manner.

[0010] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the passing indicator is independently portable.

[0011] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the drain valve and the vent valve are installed at a preset distance in the horizontal direction.

[0012] According to an embodiment of the present invention, a robot deployment and recovery device for detecting bottom plates of in-service storage tanks is provided, wherein the device further comprises a pressure gauge, and the pressure gauge is installed on the transmitting and receiving tube.

[0013] An embodiment of the present invention further provides a system for placing and recovering a bottom plate inspection robot for an in-service storage tank, comprising: any of the above-mentioned placing and recovering robots for detecting bottom plates of in-service storage tanks, and also comprising a bottom plate inspection robot.

[0014] An embodiment of the present invention also provides a method for using a robot deployment and recovery device for inspecting the bottom plate of an in-service tank, comprising: separating the front end flange of a root valve of a fluid pipeline on the bottom ring wall plate of the tank from an external pipeline of the fluid medium in the tank; and connecting the second end of a connecting pipeline of the robot deployment and recovery device for inspecting the bottom plate of an in-service tank to the front end flange.

[0015] According to an embodiment of the present invention, a method for using a bottom plate detection robot delivery and recovery device for an in-service tank is provided. After the second end of the connecting pipe of the bottom plate detection robot delivery and recovery device for an in-service tank is connected to the front end flange, the method further includes: opening a blind plate, placing the bottom plate detection robot into the sending and receiving tube, and closing the blind plate; opening a vent valve and a drain valve, connecting a preset inert gas to the drain valve until the oxygen content in the gas discharged from the vent valve is less than a preset first concentration, and closing the vent valve and the drain valve; opening the root valve, the safety valve and the vent valve, and the fluid medium in the tank flows into the delivery and recovery device for the bottom plate detection robot in service tank under the action of gravity, and when no gas is discharged from the vent valve, the vent valve is closed; the control module sends a start instruction to the bottom plate detection robot to start the bottom plate detection robot and move into the tank; after the indicator detects that the bottom plate detection robot has moved into the tank, the control module controls the bottom plate detection robot to perform detection operations.

[0016] According to an embodiment of the present invention, a method for using a robot for deploying and recovering a bottom plate inspection of an in-service tank is provided, the method further comprising: after the bottom plate inspection robot is detected by the indicator to move out of the tank and pass through the front flange, closing the root valve and opening the drain valve and the vent valve; wherein, after the inspection operation is completed, the bottom plate inspection robot enters the fluid pipeline according to the instructions and positioning signals of the control module, and then enters the transmitting and receiving tube through the intermediate component; after the fluid medium in the tank is emptied through the drain valve, a preset inert gas is injected through the drain valve, and when the oxygen content in the gas discharged from the vent valve is less than the preset second concentration and the combustible gas content is less than the preset third concentration, opening the blind plate and taking out the bottom plate inspection robot; disconnecting the second end of the connecting pipe from the front flange, and restoring the connection between the front flange and the external pipeline of the fluid medium in the tank.

[0017] The embodiments of the present invention provide a deployment and recovery device for a bottom plate inspection robot for an in-service storage tank and a method for using the same. By setting a connecting pipe, a pass indicator, a safety valve, a sending and receiving tube, a drain valve, a vent valve, a blind plate and a control module, the connecting pipe is connected to the front end flange of the root valve of the fluid pipe on the bottom ring wall plate of the storage tank when in use, so as to avoid the bottom plate inspection robot from operating in a zone 0 environment during deployment and recovery, simplify the deployment and recovery process of the bottom plate inspection robot, reduce the explosion-proof requirements of the bottom plate inspection robot body, improve the safety during the operation process, reduce the cost of the bottom plate inspection robot, and can be used on internal floating roof storage tanks, thereby expanding the application scope of the bottom plate inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is one of the structural schematic diagrams of the in-service tank bottom plate inspection robot delivery and recovery device provided by the embodiment of the present invention;

[0020] Figure 2 This is one of the schematic diagrams of the use status of the in-service tank bottom plate inspection robot delivery and recovery device provided by the embodiment of the present invention;

[0021] Figure 3 This is the second structural schematic diagram of the in-service tank bottom plate detection robot delivery and recovery device provided by the embodiment of the present invention;

[0022] Figure 4 This is the second schematic diagram of the use status of the in-service tank bottom plate detection robot delivery and recovery device provided by the embodiment of the present invention;

[0023] Figure 5 This is one of the flow diagrams of the method for using the robot for delivering and recovering the bottom plate of an in-service tank provided by an embodiment of the present invention;

[0024] Figure 6 This is the second flow chart of the method for using the robot for delivering and recovering the bottom plate of an in-service storage tank provided by an embodiment of the present invention;

[0025] Figure 7 This is the third flow chart of the method for using the in-service tank bottom plate inspection robot delivery and recovery device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Figure 1 It is a structural schematic diagram of a robot deployment and recovery device for detecting bottom plates of in-service storage tanks provided in an embodiment of the present invention. Figure 2 It is a schematic diagram of the use status of the in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention.

[0028] like Figure 1 , Figure 2 As shown, the robot delivery and recovery device for detecting the bottom plate of an in-service tank comprises: a connecting pipe 12, a passing indicator 5, a safety valve 6, a sending and receiving tube 9, a drain valve 10, a vent valve 8, a blind plate 11 and a control module (not shown in the figure); wherein:

[0029] The first end of the connecting pipe 12 is connected to the first end of the safety valve 6, the second end of the safety valve 6 is connected to the first end of the transmitting and receiving tube 9, and the second end of the transmitting and receiving tube 9 is installed with the blind plate 11; the second end of the connecting pipe 12 is used to connect the front end flange 4 of the root valve 3 of the fluid pipe 2 on the bottom ring wall plate of the storage tank when in use;

[0030] The passing indicator 5 is used to detect that the bottom plate detection robot moves into the storage tank and detects that the bottom plate detection robot moves out of the storage tank and passes through the front end flange 4;

[0031] The drain valve 10 is installed at the bottom of the receiving and sending tube 9 in the use state, and the vent valve 8 is installed at the top of the receiving and sending tube 9 in the use state;

[0032] The control module is used to control the movement and detection operation of the bottom plate detection robot.

[0033] The connecting pipe 12 is used to realize the connection between the safety valve 6 and the front flange 4. The material of the connecting pipe 12 can be the same as the material of the fluid pipe 2 on the bottom ring wall of the storage tank. The safety valve 6 is used to control the flow of the fluid to ensure the safety of the fluid control. An ordinary valve can be used. The material of the receiving and transmitting tube 9 can also be the same as the material of the fluid pipe 2 on the bottom ring wall of the storage tank. The blind plate 11 installed on the receiving and transmitting tube 9 can be opened and closed.

[0034] The second end of the connecting pipe 12 is used to connect the front end flange 4 of the root valve 3 of the fluid pipe 2 on the tank bottom ring wall of the storage tank 1 when in use. The in-service tank bottom plate inspection robot delivery and recovery device is connected to the fluid pipe 2 on the tank bottom ring wall, and the bottom plate inspection robot is delivered and recovered through the fluid pipe 2 on the tank bottom ring wall, avoiding the 0 zone working environment.

[0035] The passing indicator 5 is used to detect that the bottom plate detection robot moves into the storage tank 1 and moves out of the storage tank 1 and passes through the front flange 4. An indication module can be set on the passing indicator 5. After detecting that the bottom plate detection robot moves into the storage tank 1, a first indication signal is issued so that the control module controls the bottom plate detection robot to perform the detection operation; after detecting that the bottom plate detection robot moves out of the storage tank and passes through the front flange 4, a second indication signal is issued to perform related operations after the detection is completed.

[0036] The drain valve 10 is installed at the bottom of the sending and receiving tube 9 in the use state, and the vent valve 8 is installed at the top of the sending and receiving tube 9 in the use state. The use state refers to the state when the in-service tank bottom plate detection robot delivery and recovery device is in use. When the in-service tank bottom plate detection robot delivery and recovery device is in use, the drain valve 10 should be at the bottom of the sending and receiving tube 9, and the vent valve 8 should be at the top of the sending and receiving tube 9.

[0037] The control module is used to control the movement and detection operation of the floor inspection robot. Since the floor inspection robot's operating scenes are mostly steel materials, and the low-frequency communication module can penetrate steel materials, the floor inspection robot communicates with the control module through the low-frequency communication module.

[0038] The in-service tank bottom plate inspection robot deployment and recovery device provided by the embodiment of the present invention, by setting a connecting pipe, a pass indicator, a safety valve, a sending and receiving tube, a drain valve, a vent valve, a blind plate and a control module, the connecting pipe is connected to the front end flange of the root valve of the fluid pipe on the bottom ring wall plate of the tank when in use, so as to avoid the bottom plate inspection robot from operating in the 0 zone environment during deployment and recovery, simplify the deployment and recovery process of the bottom plate inspection robot, reduce the explosion-proof requirements of the bottom plate inspection robot body, improve the safety during the operation process, reduce the cost of the bottom plate inspection robot, and can be used on internal floating roof tanks, thereby expanding the application scope of the bottom plate inspection robot.

[0039] According to an embodiment of the present invention, a device for deploying and recovering a bottom plate inspection robot for an in-service tank is provided, wherein a permanent magnet is installed on the bottom plate inspection robot; the indicator 5 detects the movement of the bottom plate inspection robot into the tank 1 and the movement of the bottom plate inspection robot out of the tank 1 and through the front end flange 4 by detecting the magnetic induction intensity of the permanent magnet on the bottom plate inspection robot.

[0040] The indicator 5 can be composed of a Gauss meter. A permanent magnet is installed on the bottom plate detection robot. The magnetic induction intensity of the permanent magnet on the bottom plate detection robot can be detected by the indicator 5. When the position of the indicator 5 remains unchanged, as the position of the bottom plate detection robot changes, the magnetic induction intensity detected by the indicator 5 changes accordingly. According to the change in the intensity of the detected magnetic induction intensity, the indicator 5 determines whether the bottom plate detection robot moves into the storage tank 1, and determines whether the bottom plate detection robot moves out of the storage tank 1 and passes through the front flange 4.

[0041] The in-service tank bottom plate inspection robot deployment and recovery device provided by the embodiment of the present invention has a permanent magnet installed on the bottom plate inspection robot, and detects the bottom plate inspection robot moving into the tank and moving out of the tank through the front end flange through the magnetic induction intensity of the permanent magnet on the bottom plate inspection robot through an indicator, thereby realizing accurate and convenient judgment of the bottom plate inspection robot moving into the tank and moving out of the tank and passing through the front end flange, and facilitating the execution of subsequent related operations.

[0042] According to an embodiment of the present invention, a device for deploying and recovering a bottom plate inspection robot for an in-service storage tank is provided. The indicator 5 is installed on the connecting pipe 12, the safety valve 6 or the transmitting and receiving tube 9. The bottom plate inspection robot is judged to move into the storage tank or out of the storage tank and pass through the front end flange 4 according to the change of the corresponding magnetic induction intensity.

[0043] The indicator 5 can be installed in a fixed manner.

[0044] The indicator 5 can be installed on the connecting pipe 12. In this installation mode, if the indicator 5 detects that the magnetic induction intensity changes from "weak-strong-weak-none", it is judged that the bottom plate detection robot has entered the storage tank 1. The bottom plate detection robot moves from the transceiver tube 9 to the storage tank 1, and the magnetic induction intensity detected by the indicator 5 changes from weak to strong. When the bottom plate detection robot moves to the installation position passing through the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the storage tank 1, the magnetic induction intensity changes from strong to weak. When the bottom plate detection robot enters the storage tank 1, no magnetic induction signal is detected, and the magnetic induction intensity is 0.

[0045] The indicator 5 can be installed on the connecting pipe 12. In this installation mode, if the indicator 5 detects that the magnetic induction intensity changes from "none-weak-strong-weak", it is judged that the bottom plate detection robot moves out of the storage tank 1 and passes through the front flange 4. The bottom plate detection robot moves from the fluid pipeline 2 of the storage tank 1 to the direction of the receiving and transmitting cylinder 9, and the magnetic induction intensity detected by the indicator 5 changes from none to weak to strong. When the bottom plate detection robot moves to the installation position passing through the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the receiving and transmitting cylinder 9, the magnetic induction intensity changes from strong to weak.

[0046] The indicator 5 can be installed on the safety valve 6. In this installation mode, if the indicator 5 detects that the magnetic induction intensity changes from "weak-strong-weak-none", it is judged that the bottom plate detection robot has entered the storage tank 1. The bottom plate detection robot moves from the receiving and transmitting tube 9 to the storage tank 1, and the magnetic induction intensity detected by the indicator 5 changes from weak to strong. When the bottom plate detection robot moves to the installation position of the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the storage tank 1, the magnetic induction intensity changes from strong to weak. When the bottom plate detection robot enters the storage tank 1, no magnetic induction signal is detected, and the magnetic induction intensity is 0.

[0047] The indicator 5 can be installed on the safety valve 6. In this installation mode, if the indicator 5 detects that the magnetic induction intensity changes from "none-weak-strong-weak", it is judged that the bottom plate detection robot moves out of the storage tank 1 and passes through the front flange 4. The bottom plate detection robot moves from the fluid pipeline 2 of the storage tank 1 to the direction of the transmitter-receiver tube 9, and the magnetic induction intensity detected by the indicator 5 changes from none to weak to strong. When the bottom plate detection robot moves to the installation position passing through the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the transmitter-receiver tube 9, the magnetic induction intensity changes from strong to weak.

[0048] The indicator 5 can be installed on the transceiver tube 9. If the initial position of the bottom plate detection robot in the transceiver tube 9 is between the first end of the transceiver tube 9 and the installation position of the indicator 5, if the indicator 5 detects that the magnetic induction intensity changes from "strong-weak-none", it is judged that the bottom plate detection robot has entered the storage tank 1. The bottom plate detection robot moves from the transceiver tube 9 to the storage tank 1, and the magnetic induction intensity detected by the indicator 5 changes from strong to weak. As the bottom plate detection robot continues to move toward the storage tank 1, the magnetic induction intensity continues to weaken. When the bottom plate detection robot enters the storage tank 1, no magnetic induction signal is detected, and the magnetic induction intensity is 0.

[0049] The indicator 5 can be installed on the receiving tube 9. If the end position of the bottom plate detection robot in the receiving tube 9 is between the first end of the receiving tube 9 and the installation position of the indicator 5, if the indicator 5 detects that the magnetic induction intensity changes from "none-weak-strong", it is judged that the bottom plate detection robot moves out of the storage tank 1 and passes through the front flange 4. The bottom plate detection robot moves from the fluid pipeline 2 of the storage tank 1 to the receiving tube 9, and the magnetic induction intensity detected by the indicator 5 changes from none to weak to strong. When the bottom plate detection robot moves to the end position, the magnetic induction intensity is the strongest.

[0050] The indicator 5 can be installed on the transceiver tube 9. If the initial position of the bottom plate detection robot in the transceiver tube 9 is between the installation position of the indicator 5 and the second end of the transceiver tube 9, then if the indicator 5 detects that the magnetic induction intensity changes from "weak-strong-weak-none", it is judged that the bottom plate detection robot has entered the storage tank 1. Among them, the bottom plate detection robot moves from the transceiver tube 9 to the storage tank 1, and the magnetic induction intensity detected by the indicator 5 changes from weak to strong. When the bottom plate detection robot moves to the installation position of the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the storage tank 1, the magnetic induction intensity changes from strong to weak. When the bottom plate detection robot enters the storage tank 1, no magnetic induction signal is detected, and the magnetic induction intensity is 0.

[0051] The indicator 5 can be installed on the transceiver tube 9. If the end position of the bottom plate detection robot in the transceiver tube 9 is between the installation position of the indicator 5 and the second end of the transceiver tube 9, if the indicator 5 detects that the magnetic induction intensity changes from "none-weak-strong-weak", it is judged that the bottom plate detection robot moves out of the storage tank 1 and passes through the front flange 4. The bottom plate detection robot moves from the fluid pipeline 2 of the storage tank 1 to the transceiver tube 9, and the magnetic induction intensity detected by the indicator 5 changes from none to weak to strong. When the bottom plate detection robot moves to the installation position of the indicator 5, the magnetic induction intensity is the strongest. As the bottom plate detection robot continues to move toward the transceiver tube 9, the magnetic induction intensity changes from strong to weak.

[0052] After the bottom plate inspection robot passes through the front flange 4, it continues to pass through the safety valve 6 and enters the sending and receiving tube 9. After it is determined that the bottom plate inspection robot passes through the front flange 4, operations such as closing the root valve 3 can be performed.

[0053] The in-service tank bottom plate inspection robot deployment and recovery device provided in an embodiment of the present invention achieves the flexibility of the indicator installation by installing a through indicator on a connecting pipe, a safety valve or a transmitting and receiving tube, and judging whether the bottom plate inspection robot moves into and out of the tank and passes through the front end flange according to the change of the corresponding magnetic induction intensity.

[0054] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the passing indicator 5 is installed in a magnetic suction manner.

[0055] The magnetic installation method is easy to disassemble and assemble, flexible and simple.

[0056] The in-service tank bottom plate inspection robot delivery and recovery device provided in the embodiment of the present invention adopts a magnetic suction installation method, thereby improving the convenience of disassembly and assembly through an indicator.

[0057] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the passing indicator 5 is independently portable.

[0058] An independent portable passing indicator 5 may also be used. If the passing indicator 5 judges that the bottom plate detection robot enters the storage tank 1 and moves out of the storage tank 1 and passes through the front flange 4 by sensing the magnetic induction intensity of the permanent magnet installed on the bottom plate detection robot, then the bottom plate detection robot enters the storage tank 1 and moves out of the storage tank 1 and passes through the front flange 4 according to the position of the passing indicator 5 and the change of the corresponding magnetic induction intensity.

[0059] The robot delivery and recovery device for detecting the bottom plate of an in-service storage tank provided in the embodiment of the present invention improves flexibility by using an independent and portable indicator.

[0060] According to an in-service tank bottom plate inspection robot delivery and recovery device provided by an embodiment of the present invention, the drain valve 10 and the vent valve 8 are installed at a preset distance in the horizontal direction.

[0061] The drain valve 10 is located at the bottom of the transmitting and receiving tube 9, and the vent valve 8 is located at the top of the transmitting and receiving tube 9. The inert gas used for gas replacement is injected through the drain valve 10, and other gases are discharged from the vent valve 8. In order to improve the gas replacement efficiency, the drain valve 10 is not installed in a vertically facing manner, but is installed at a preset distance in the horizontal direction.

[0062] The in-service tank bottom plate inspection robot delivery and recovery device provided in the embodiment of the present invention is beneficial to improving the gas replacement efficiency by installing the drain valve and the vent valve at a preset distance in the horizontal direction.

[0063] Figure 3 This is the second structural schematic diagram of the in-service tank bottom plate detection robot delivery and recovery device provided by the embodiment of the present invention; Figure 4 This is the second schematic diagram of the use status of the in-service tank bottom plate inspection robot delivery and recovery device provided by the embodiment of the present invention. Figure 3 , Figure 4 As shown, the device further comprises a pressure gauge 7, and the pressure gauge 7 is installed on the transmitting and receiving tube 9.

[0064] A pressure gauge 7 may be provided on the transmitting and receiving tube 9 to assist in determining whether the transmitting and receiving tube is filled with the fluid medium (such as oil) flowing in from the storage tank.

[0065] The in-service tank bottom plate inspection robot delivery and recovery device provided in the embodiment of the present invention provides a pressure gauge on the sending and receiving tube, which is helpful to assist in judging the injection status of the fluid medium in the sending and receiving tube.

[0066] An embodiment of the present invention also provides a system for placing and recovering a bottom plate inspection robot for an in-service storage tank, including the placing and recovering device for a bottom plate inspection robot for an in-service storage tank provided by any of the above embodiments, and also including the bottom plate inspection robot.

[0067] It should be noted that the multiple preferred implementations given in this embodiment can be freely combined under the premise that they do not conflict with each other in logic or structure, and the present invention does not limit this.

[0068] The following describes the method for using the in-service tank bottom plate inspection robot delivery and recovery device provided in an embodiment of the present invention. The method for using the in-service tank bottom plate inspection robot delivery and recovery device described below and the in-service tank bottom plate inspection robot delivery and recovery device described above can be referenced to each other.

[0069] Figure 5 This is one of the flow charts of the method for using the robot for deploying and recovering the bottom plate inspection robot for in-service tanks provided by the embodiment of the present invention. Figure 5 As shown, the method includes:

[0070] Step S1, separating the front end flange of the root valve of the fluid pipeline on the bottom ring wall plate of the storage tank from the external pipeline of the fluid medium in the storage tank.

[0071] Step S2, connecting the second end of the connecting pipe of the in-service tank bottom plate inspection robot delivery and recovery device to the front end flange.

[0072] like Figure 2 , Figure 4 As shown, before the inspection operation, the front end flange 4 of the root valve 3 is separated from the external pipeline of the fluid medium (such as the external pipeline for receiving and sending oil), and then connected to the second end of the connecting pipe 2 of the in-service tank bottom plate inspection robot delivery and recovery device.

[0073] The in-service tank bottom plate inspection robot deployment and recovery device provided in the embodiment of the present invention does not use the manhole on the tank top to deploy and recover the bottom plate inspection robot, but instead deploys and recovers the bottom plate inspection robot through the fluid pipeline 2 on the bottom ring wall plate of the tank, avoiding the 0 zone working environment.

[0074] The in-service tank bottom plate inspection robot delivery and recovery device provided in the embodiment of the present invention can realize the inspection of the bottom plate of the in-service tank. When in use, it is necessary to separate the front end flange 4 of the root valve 3 of the fluid pipeline 2 on the bottom ring wall plate of the tank from the external pipeline of the fluid medium in the tank after closing the root valve 3, and then connect the second end of the connecting pipe 12 of the in-service tank bottom plate inspection robot delivery and recovery device to the front end flange 4, so as to establish a connection between the in-service tank bottom plate inspection robot delivery and recovery device provided in the embodiment of the present invention and the fluid pipeline 2 of the tank bottom plate wall ring, so as to carry out the delivery and recovery of the bottom plate inspection robot.

[0075] The method for using the device for launching and recovering a bottom plate inspection robot for in-service tanks provided in an embodiment of the present invention connects a connecting pipe to the front end flange of a root valve of a fluid pipe on a bottom ring wall plate of the tank, and utilizes the fluid pipe of the bottom plate wall ring of the tank to launch and recover the bottom plate inspection robot, thereby avoiding the bottom plate inspection robot from operating in a zone 0 environment during launch and recovery, simplifying the launch and recovery process of the bottom plate inspection robot, reducing the explosion-proof requirements for the bottom plate inspection robot body, improving the safety during the operation process, reducing the cost of the bottom plate inspection robot, and being able to be used on internal floating roof tanks, thereby expanding the application scope of the bottom plate inspection robot.

[0076] Figure 6 This is the second flow chart of the method for using the in-service tank bottom plate detection robot delivery and recovery device provided by the embodiment of the present invention. Figure 6 As shown, after the second end of the connecting pipe of the in-service tank bottom plate inspection robot delivery and recovery device is connected to the front end flange, the method further includes:

[0077] Step S3, open the blind plate, put the bottom plate detection robot into the sending and receiving tube, and close the blind plate.

[0078] Step S4, open the vent valve and the drain valve, connect the preset inert gas to the drain valve until the oxygen content in the gas discharged from the vent valve is less than the preset first concentration, and close the vent valve and the drain valve.

[0079] Step S5, open the root valve, the safety valve and the vent valve, and the fluid medium in the storage tank flows into the in-service tank bottom plate detection robot delivery and recovery device under the action of gravity. When no gas is discharged from the vent valve, close the vent valve.

[0080] Step S6: The control module sends a start instruction to the bottom plate detection robot to enable the bottom plate detection robot to start moving into the storage tank.

[0081] Step S7: After the indicator detects that the bottom plate inspection robot has moved into the storage tank, the control module controls the bottom plate inspection robot to perform inspection operations.

[0082] Combine the following Figure 4 The deployment process of the bottom plate inspection robot of the in-service tank bottom plate inspection robot deployment and recovery device is described. The description process takes the storage tank storing oil and the inert gas being nitrogen as an example. Of course, the present invention is not limited to this.

[0083] Open the blind plate 11, put the bottom plate inspection robot into the sending and receiving tube 9, and close the blind plate 11. Use nitrogen to replace the air in the delivery and recovery device of the bottom plate inspection robot of the in-service tank through the vent valve 8 and the drain valve 10, open the vent valve 8 and the drain valve 10, the vent valve 8 is installed on the top of the sending and receiving tube 9, and the drain valve 10 is installed at the bottom of the sending and receiving tube 9. To ensure the gas replacement effect, the vent valve 8 and the drain valve 10 are installed one after the other in the length direction of the sending and receiving tube 9 (separated by a preset distance in the horizontal direction), connect nitrogen to the drain valve 10, and slowly inject nitrogen (or other inert gas, nitrogen is commonly used) until the oxygen content of the gas discharged from the vent valve 8 is less than the preset first concentration (such as 0.5%) to complete the replacement, and close the drain valve 10 and the vent valve 8. Fully open the root valve 3 and the safety valve 6, open the vent valve 8 (to maintain stability, the vent valve 8 can be opened slowly), and the medium in the storage tank 1 flows into the in-service tank bottom plate detection robot delivery and recovery device under the action of gravity. When there is no gas discharged from the vent valve 8, close the vent valve 8. At this time, the receiving and sending tube 9 is full of oil products, and the pressure gauge 7 (the oil product is filled with gas but not necessarily exhausted) assists in judging the injection of oil products in the receiving and sending tube 9. The bottom plate detection robot receives the external command of the control module through the low-frequency communication module. When the start command is received, the bottom plate detection robot relies on its own driving force to start moving into the tank. The indicator 5 is composed of a Gauss meter, which is used to measure the magnetic induction intensity of the permanent magnet on the bottom plate detection robot at the installation position (the embodiment of the present invention is installed in the connecting pipe 12). When the magnetic induction intensity measured by the indicator 5 changes from "weak-strong-weak-none", it is judged that the bottom plate detection robot has entered the storage tank 1. After the bottom plate detection robot moves into the storage tank 1, the control module controls the bottom plate detection robot to perform the detection operation.

[0084] The method for using the device for deploying and recovering a bottom plate inspection robot for in-service storage tanks provided in an embodiment of the present invention comprises the following steps: opening a blind plate, placing the bottom plate inspection robot into a sending and receiving tube, closing the blind plate, opening a vent valve and a drain valve, connecting a preset inert gas to the drain valve, until the oxygen content in the gas discharged from the vent valve is less than a preset first concentration, closing the vent valve and the drain valve, opening the root valve, the safety valve and the vent valve, and allowing the fluid medium in the storage tank to flow into the device for deploying and recovering a bottom plate inspection robot for in-service storage tanks under the action of gravity; when no gas is discharged from the vent valve, closing the vent valve, and controlling the bottom plate inspection robot to move into the storage tank by a control module; after detecting through an indicator that the bottom plate inspection robot has moved into the storage tank, the control module controls the bottom plate inspection robot to perform an inspection operation, thereby realizing the deployment of the bottom plate inspection robot through a fluid pipeline on the bottom ring wall plate of the storage tank.

[0085] Figure 7 This is the third flow chart of the method for using the robot for deploying and recovering the bottom plate inspection device of an in-service tank provided by an embodiment of the present invention. Figure 7 As shown, the method also includes:

[0086] Step S8, after the indicator detects that the bottom plate inspection robot moves out of the storage tank and passes through the front flange, close the root valve and open the drain valve and the vent valve; wherein, after the inspection operation is completed, the bottom plate inspection robot enters the fluid pipeline according to the instruction and positioning signal of the control module, and then enters the transmitting and receiving tube through the intermediate component;

[0087] Step S9, after the fluid medium in the storage tank is emptied through the drain valve, a preset inert gas is injected through the drain valve, and when the oxygen content in the gas discharged from the drain valve is less than the preset second concentration and the combustible gas content is less than the preset third concentration, the blind plate is opened and the bottom plate detection robot is taken out;

[0088] Step S10, disconnecting the second end of the connecting pipe from the front end flange, and restoring the connection between the front end flange and the external pipeline of the fluid medium in the storage tank.

[0089] Combine the following Figure 4 The recovery process of the bottom plate inspection robot of the in-service tank bottom plate inspection robot deployment and recovery device is described. The description process takes the storage tank as containing oil products and the inert gas as nitrogen as an example. Of course, the present invention is not limited to this.

[0090] During the inspection process, the bottom plate inspection robot communicates and locates with the outside through a low-frequency communication module. A receiving device can be set on the tank wall to receive the signal sent by the bottom plate inspection robot to realize the positioning of the bottom plate inspection robot in the tank. After the inspection is completed, the bottom plate inspection robot enters the fluid pipeline 2 according to the external command and positioning signal, and passes through the root valve 3, the front flange 4, the connecting pipeline 12 (with a through indicator 5 installed), and the safety valve 6 to enter the transceiver tube 9. When the through indicator 5 changes from "none-weak-strong-weak" according to the measured magnetic induction intensity, it is judged that the bottom plate inspection robot has moved out of the storage tank 1 and passed through the front flange 4. Close the root valve 3, open the drain valve 10 and the vent valve 8 in sequence (the vent valve 8 can also be opened after the oil is emptied), and the oil in the receiving and sending tube 9 is emptied through the drain valve 10. After emptying, nitrogen is injected through the drain valve 10. When the oxygen content of the gas discharged by the vent valve 8 is less than the second preset concentration (the value can be the same as the first preset concentration, such as 0.5%) and the combustible gas content is less than the preset third concentration (such as 0.2%), the gas replacement is completed, the blind plate 11 is opened, the bottom plate inspection robot is taken out, the front end flange 4 connecting bolts are removed, the in-service tank bottom plate inspection robot delivery and recovery device is removed, the root valve 3 is connected to the external pipeline of the receiving and sending oil, and the original state is restored.

[0091] The method for using the device for deploying and recovering a bottom plate inspection robot for an in-service storage tank provided in an embodiment of the present invention comprises the following steps: after detecting through an indicator that the bottom plate inspection robot has moved out of the storage tank and passed through the front end flange, the root valve is closed and the drain valve and the vent valve are opened; wherein, after the inspection operation is completed, the bottom plate inspection robot enters the fluid pipeline according to the instruction and positioning signal of the control module, and then enters the transmitting and receiving tube through the intermediate component; after the fluid medium in the storage tank is emptied through the drain valve, a preset inert gas is injected through the drain valve; when the oxygen content in the gas discharged from the vent valve is less than the preset second concentration and the combustible gas content is less than the preset third concentration, the blind plate is opened, the bottom plate inspection robot is taken out, the connection between the second end of the connecting pipe and the front end flange is disconnected, and the connection between the front end flange and the external pipeline of the fluid medium in the storage tank is restored, thereby realizing the recovery of the bottom plate inspection robot through the fluid pipeline on the bottom ring wall plate of the storage tank.

[0092] The method for using the deployment and recovery device for the bottom plate inspection robot of an in-service tank provided in an embodiment of the present invention deploys and recovers the bottom plate inspection robot through a fluid pipeline on the bottom ring wall plate of the tank, avoids working in a zone 0 environment, and realizes autonomous deployment and recovery of the bottom plate inspection robot.

[0093] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0094] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot placement and recovery device for detecting the bottom plate of an in-service tank, characterized in that: include: Connecting pipes, through indicators, safety valves, transmitter-receiver tubes, drain valves, vent valves, blind plates and control modules; including: The first end of the connecting pipe is connected to the first end of the safety valve, the second end of the safety valve is connected to the first end of the transmitting and receiving tube, and the second end of the transmitting and receiving tube is installed with the blind plate; the second end of the connecting pipe is used to connect to the front end flange of the root valve of the fluid pipeline on the bottom ring wall plate of the storage tank when in use; The passing indicator is used to detect that the bottom plate detection robot moves into the storage tank and detects that the bottom plate detection robot moves out of the storage tank and passes through the front end flange; The drain valve is installed at the bottom of the transmitter-receiver tube in the use state, and the vent valve is installed at the top of the transmitter-receiver tube in the use state; The control module is used to control the movement and detection operation of the bottom plate detection robot.

2. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 1 is characterized in that: The bottom plate detection robot is equipped with a permanent magnet; The passing indicator detects that the bottom plate detection robot moves into the storage tank and that the bottom plate detection robot moves out of the storage tank and passes through the front end flange by detecting the magnetic induction intensity of the permanent magnet on the bottom plate detection robot.

3. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 2 is characterized in that: The passing indicator is installed on the connecting pipe, the safety valve or the transmitting and receiving tube, and determines whether the bottom plate detection robot moves into the storage tank or moves out of the storage tank and passes through the front end flange according to the change of the corresponding magnetic induction intensity.

4. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 3 is characterized in that: The passing indicator is installed in a magnetic manner.

5. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 1 is characterized in that: The passage indicator is independently portable.

6. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 1 is characterized in that: The sewage valve and the vent valve are installed at a preset distance in the horizontal direction.

7. The robot placement and recovery device for detecting the bottom plate of an in-service tank according to claim 1 is characterized in that: The device also includes a pressure gauge, which is installed on the transmitting and receiving tube.

8. A robot deployment and recovery system for bottom plate inspection of in-service storage tanks, characterized in that: It comprises the in-service tank bottom plate inspection robot deployment and recovery device as described in any one of claims 1 to 7, and also comprises a bottom plate inspection robot.

9. A method for using the robot delivery and recovery device for detecting the bottom plate of an in-service tank according to any one of claims 1 to 7, characterized in that: include: Separate the front flange of the root valve of the fluid pipeline on the bottom ring wall plate of the tank from the external pipeline of the fluid medium in the tank; The second end of the connecting pipe of the in-service tank bottom plate inspection robot delivery and recovery device is connected to the front end flange.

10. The method of use according to claim 9, characterized in that: After the second end of the connecting pipe of the in-service tank bottom plate inspection robot delivery and recovery device is connected to the front end flange, the method further includes: Open the blind plate, place the bottom plate detection robot into the transmitting and receiving tube, and close the blind plate; Open the vent valve and the drain valve, connect the preset inert gas to the drain valve until the oxygen content in the gas discharged from the vent valve is less than the preset first concentration, and close the vent valve and the drain valve; Open the root valve, the safety valve and the vent valve, and the fluid medium in the tank flows into the in-service tank bottom plate detection robot delivery and recovery device under the action of gravity. When no gas is discharged from the vent valve, close the vent valve; The control module sends a start instruction to the bottom plate detection robot, so that the bottom plate detection robot starts to move into the storage tank; After the indicator detects that the bottom plate inspection robot has moved into the storage tank, the control module controls the bottom plate inspection robot to perform inspection operations.

11. The method of use according to claim 10, characterized in that: The method further comprises: After the bottom plate inspection robot is detected by the indicator to be moved out of the storage tank and passed through the front flange, the root valve is closed, and the drain valve and the vent valve are opened; wherein, after the inspection operation is completed, the bottom plate inspection robot enters the fluid pipeline according to the instruction and positioning signal of the control module, and then enters the transmitting and receiving cylinder through the intermediate component; After the fluid medium in the storage tank is emptied through the drain valve, a preset inert gas is injected through the drain valve. When the oxygen content in the gas discharged from the drain valve is less than the preset second concentration and the combustible gas content is less than the preset third concentration, the blind plate is opened and the bottom plate detection robot is taken out; The connection between the second end of the connecting pipe and the front flange is disconnected, and the connection between the front flange and the external pipeline of the fluid medium in the storage tank is restored.

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