Gluing device for automated system for applying a strip of waterproof material for sealing a tank membrane

Abstract

Gluing device for automated system for applying a strip of waterproof material for sealing a tank membrane The present invention relates to a gluing device for an automated system (14) for applying a strip of waterproof material for sealing a membrane (1) of a wall (2, 4) of a tank for transporting and / or storing a gas in the liquid state, the gluing device extending along a main longitudinal elongation axis and comprising at least one gluing member which comprises at least one cannula configured to deposit a segment of adhesive fluid on said tank membrane (1), the gluing device comprising at least one control system which comprises at least one means for moving the at least one cannula along an axis intersecting the longitudinal axis of the gluing device,at least one control unit for the movement means and at least one means for determining the position of the gluing device relative to the wall (2, 4) of the tank. (figure 3),

Description

Title of the invention: Gluing device for automated system for applying a strip of waterproof material for sealing a tank membrane

[0001] The present invention relates to the field of tanks for transporting and / or storing a cryogenic fluid and relates more particularly to a system for applying sealed material during the construction of such tanks.

[0002] In the LNG carrier industry, it is known, during the transport and / or storage of cryogenic fluid, to maintain it in liquid form and at low temperature, said cryogenic fluid having a very low vaporization temperature. For this, the cryogenic fluid is stored in tanks comprising one or more layers of thermal insulation, ensuring both sealing by means of a sealed tank membrane and thermal protection by means of a layer of thermal insulation. The insulation layer consists of a plurality of panels assembled so as to form said insulation layer. These panels each carry a portion of this sealed membrane and the junction of these portions forms the sealed membrane as such.

[0003] In order to achieve sealing between the panels forming the insulation layer, strips of waterproof material are glued together to close the gaps formed between each of the panels. The operation of gluing and laying these strips of waterproof material is carried out automatically by a robot capable of moving over the membrane in order to apply the strips.

[0004] The robot comprises in particular a gluing device comprising at least one cannula within which circulates a fluid having adhesive properties which is then deposited on the surface of the panels in the form of two beads. Following this, the robot unrolls the strip of waterproof material over these beads of fluid and presses this strip of waterproof material against the panels in order to glue it, and ultimately, ensure the waterproofing of the membrane.

[0005] The bead of fluid formed by the at least one cannula must comply with recommendations, in particular said bead of fluid must remain in place between its deposition and the deposition of the strip of waterproof material covering said bead. Such a recommendation can then prove problematic, in particular when the robot comprising the gluing device moves against side walls of the tank, i.e. walls of the tank which have a vertical component. Indeed, after the deposition of the bead of fluid at one of the side walls of the tank, a downward phenomenon, caused at least in part by the Earth's gravity, moves the segment of fluid and then degrades the subsequent bonding of the strip of waterproof material. Such a phenomenon then causes problems with the reliability of the tank's sealing, due to the poor bonding of the strip of waterproof material between the panels.

[0006] Thus, the aim of the present invention is to propose a solution making it possible to anticipate the descent of the bead of fluid when the robot comprising the gluing device moves along a side wall of the tank. The invention aims in particular to effectively and reliably remedy the gravitational descent of the bead of fluid along the side walls of the tank.

[0007] The present invention provides a solution and relates to a gluing device for an automated system for applying a strip of waterproof material for sealing a membrane of a wall of a tank for transporting and / or storing a gas in the liquid state, the gluing device extending along a main longitudinal elongation axis and comprising at least one gluing member which comprises at least one cannula configured to deposit a segment of adhesive fluid on said tank membrane, the gluing device comprising at least one control system which comprises at least one means for moving the at least one cannula along an axis intersecting the longitudinal axis of the gluing device, at least one unit for controlling the moving means and at least one means for determining the position of the gluing device relative to the wall of the tank.

[0008] The automated system makes it possible to apply strips of waterproof material for sealing the membrane of the tank wall, the tank comprising at least one bottom wall and one top wall opposite one another in a vertical direction of the tank, and connected to one another by a side wall. It is then understood that the side wall of the tank extends at least along the vertical direction of the tank. Thus, the automated system is able to move along the bottom and top walls and also along the side wall so as to ensure the sealing of the membrane affixed to all of the walls of the tank.

[0009] Advantage is then taken of the control system, and in particular of the means for determining the position of the gluing device in that it makes it possible to detect the position of the gluing device, and therefore of the automated system, relative to the tank wall, i.e. at least relative to the side wall. Such detection then allows the gluing device to adapt the placement of the adhesive fluid segment on the tank membrane in order to overcome the gravitational effect generated when the automated system moves along the side wall of the tank. In other words, when the determination means detects the positioning of the gluing device on the side wall, the control system adapts the placement of the adhesive fluid segment by the at least one cannula, so as to integrate the gravitational effect in its placement. More reliable gluing of the strip of waterproof material is then obtained thanks to a surface more regular bonding and thus, optimal sealing of the membrane.

[0010] The control system according to the invention comprises the means for moving the cannula(s), for example an electric actuator, a control unit for the moving means, for example a driver or an electronic control card, and at least one means for determining the position of the gluing device relative to the wall of the tank, such a determination means being capable of discriminating the position of the gluing device between a flat position, i.e. a position where a vertical axis is perpendicular to a plane of movement of the machine, and a position on a side wall of the tank which involves a vertical component which falls within the plane of movement of the machine or which intersects it other than perpendicularly.

[0011] According to a characteristic of the invention, the determination means comprises at least one detection element capable of determining a positioning of the gluing device against a side wall of the tank.

[0012] According to a characteristic of the invention, the detection element is chosen from an accelerometer, a gyroscope, an optical detection device, an inertial unit.

[0013] It is understood that the side wall corresponds to a wall of the tank which extends at least partly along the vertical direction of said tank.

[0014] According to a characteristic of the invention, the control system comprises at least one sensor of a reference position of the at least one cannula relative to a main body of the gluing device.

[0015] In other words, the sensor forms a reference point for the position of the at least one cannula relative to the main body of the gluing device. It is further understood that the at least one cannula extends from the main body of the gluing device.

[0016] According to a characteristic of the invention, the control unit is capable of receiving at least one signal from the means for determining the position of the gluing device relative to the wall of the tank.

[0017] The control unit is also capable of receiving a signal from the sensor of the reference position of the at least one cannula.

[0018] According to a characteristic of the invention, the control unit is capable of processing at least one signal received from the means for determining the position of the gluing device relative to the wall of the tank and of generating a control signal for the movement means as a function of at least the signal received from the determination means.

[0019] It is further understood that to estimate the displacement of the cannula by the displacement means, the control unit also considers the signal received from the reference position sensor of the at least one cannula.

[0020] According to a characteristic of the invention, the displacement means comprises at least one actuator placed under the control of the control unit and which implements a translation of the cannula along the axis secant to the longitudinal axis of the gluing device.

[0021] The actuator makes it possible to ensure the movement of the at least one cannula under the effect of the control signal sent by the control unit to the movement means.

[0022] According to an example of the invention, the cannula is capable of moving along the secant axis, here perpendicular to the main longitudinal axis of the gluing device, the secant axis being coincident with a transverse axis of the gluing device.

[0023] According to a characteristic of the invention, the actuator comprises at least one worm screw integral in rotation with the at least one cannula and a drive member capable of driving the worm screw in rotation.

[0024] According to a characteristic of the invention, the actuator comprises at least one gear which cooperates with a thread of the worm screw, the gear being driven in rotation by the drive member.

[0025] It is understood that the drive member can directly drive the worm screw in rotation via a rotation shaft of the drive member secured to said worm screw, or can drive the worm screw in rotation via the gear acting as an intermediary between the drive member and the worm screw.

[0026] Furthermore, the drive member is capable of driving the worm screw in rotation in two opposite directions of rotation so as to move the at least one cannula in two opposite directions, taken along the axis intersecting the longitudinal axis of the gluing device.

[0027] According to a characteristic of the invention, the gluing device comprises at least two cannulas, the endless screw being configured to simultaneously move the at least two cannulas.

[0028] According to a characteristic of the invention, the gluing device comprises at least two cannulas, the displacement means comprising at least two actuators each comprising a worm screw and a drive member capable of driving the worm screw in rotation, each of the worm screws being associated with a single cannula.

[0029] It is understood that in such a configuration of the gluing device, a gear can be arranged between each of the assemblies formed by one of the worm screws and one of the actuators. It is further understood that in such a configuration of the displacement means, each of the worm screws is associated with a separate drive member. Thus, the displacement of one of the cannulas along the axis intersecting the longitudinal axis of the gluing device is carried out independently of the other cannula.

[0030] According to a characteristic of the invention, the drive member can correspond to an electric motor, optionally associated with at least one gear.

[0031] According to a characteristic of the invention, a displacement of at least one cannula along the axis secant to the longitudinal axis of the gluing device relative to a central direction of the gap is between 0 and 40 mm, advantageously between 0 and 20 mm. This dimension determines the stroke of at least one cannula, depending on the position of the gluing device in the tank. It is noted that this distance is measured between the central direction of the gap and a free end of the cannula through which the fluid exits, along a transverse direction of the gluing device, i.e. perpendicular to the longitudinal axis of the gluing device.

[0032] Furthermore, the distance between the at least two cannulas of the gluing device is between 90 and 130 mm, preferably between 100 and 120 mm, for example 110 mm, measured along the axis secant to the longitudinal axis of the gluing device.

[0033] According to one aspect of the invention, a first cannula has a nominal distance from a central direction of the gap of between 45 and 65 mm, this distance being capable of varying by + / - 20 mm to reach a position of between 25 mm and 65 mm when the nominal distance is equal to 45 mm or a position of between 45 mm and 85 mm when the nominal distance is equal to 65 mm.

[0034] According to a particular example, the nominal distance separating the cannula from the central direction of the gap is equal to 55 mm. In such a case, the cannula can be moved between 45 mm and 65 mm from the central direction of the gap.

[0035] The variation in position of the cannula makes it possible to use the same gluing device, regardless of its direction of movement against the side wall or chamfer. Indeed, an upper cannula in a first direction of movement can become a lower cannula in a second direction of movement of the gluing device, when the latter is used for example on two opposite side walls of the tank. The invention thus makes it possible to raise the bead of fluid relative to the gap, regardless of the cannula which creates it.

[0036] The invention also relates to an automated system for applying a strip of waterproof material against a membrane of a tank for transporting and / or storing a cryogenic fluid, comprising a motorized chassis, a gluing device according to any one of the preceding characteristics, a device for applying the strip of waterproof material to the tank membrane and at least one roller which rolls to press the strip of waterproof material against the tank membrane.

[0037] The invention also covers a method for applying a strip of waterproof material for sealing a membrane of a tank for transporting and / or storing a cryogenic fluid, the method implementing an automated system according to the preceding characteristic, the method comprising at least one step during which the determining means determines the position of the gluing device relative to the wall of the tank, then at least one other step during which the control unit moves the at least one cannula along the axis secant to the longitudinal axis of the gluing device.

[0038] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several exemplary embodiments given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand, in which:

[0039] [Fig-1] is a schematic view showing the context of a sealing operation of a membrane of a tank for transporting and / or storing a cryogenic fluid,

[0040] [Fig.2] represents an alternative sealing operation context to that illustrated in [Fig.l],

[0041] [Fig.3] represents an automated system for applying a strip of material waterproof for sealing the tank membrane according to the invention, the automated system being arranged flat and vertically against a side wall of the tank,

[0042] [Fig.4] represents the automated system for applying waterproof material strips for sealing the tank membrane carrying out an operation of laying said strip of waterproof material, the automated system being arranged flat and horizontally against a bottom wall of the tank,

[0043] [Fig.5] is a side view of the automated system according to the invention, and in particular of a gluing device according to the invention,

[0044] [Fig.6] is a top view of the automated system equipped with a control system of the gluing device according to the invention,

[0045] [Fig.7] represents an alternative of the control system of the gluing device according to the invention.

[0046] Figures 1 to 4 illustrate the context of the invention, i.e. an operation of sealing a membrane 3 of an insulating and sealed mass 1 of a tank during the construction of a tank for transporting and / or storing a cryogenic fluid. Such a tank comprises at least one membrane guaranteeing the sealing of the tank and thus making it possible to meet the structural requirements of this type of transporting and / or storing tank.

[0047] As symbolized in [Fig. 3], such a tank comprises at least one bottom wall 2 and one top wall, not shown, which extend in horizontal planes comprising longitudinal directions L and transverse T of the tank, and opposite one another in a vertical direction VI of the tank, and which are connected by at least one side wall 4 which extends in a vertical plane of the tank. According to a variant, the tank may comprise at least one chamfer wall which extends in a plane intersecting the bottom wall 2, or the top wall, and the side wall 4.

[0048] The insulating and waterproof tank block 1 is therefore formed from a plurality of panels 6 arranged side by side and covered with the waterproof membrane 3 secured by gluing to said panels 6. More precisely, the panels 6 comprise a thermally insulating material having an internal face 7 facing the volume of the tank which contains the cryogenic fluid and an external face 9 opposite the internal face 7. The waterproof membrane 3 covers the internal faces 7 while a layer of plywood or a composite material is in contact with the external faces 9.

[0049] The assembly of the panels 6, however, forms gaps 8 between two immediately adjacent panels 6 and these gaps 8 must themselves also be made watertight. The operation of sealing these gaps 8 therefore consists of laying a strip of waterproof material 10 covering each of these gaps 8, in order to close the latter and ensure total sealing of the tank membrane 3.

[0050] [Fig.2] represents an alternative context where the tank membrane 3 is, during the sealing operation, partially covered by additional panels 12. Once the sealing operation has been carried out, in a manner similar to that illustrated in [Fig.1], the tank membrane 3 is subsequently entirely covered by the additional panels 12. The additional panels 12 comprise in particular an insulating body topped with a metallic waterproof membrane not shown.

[0051] The strip of waterproof material 10 is fixed at the interstices 8 by gluing and this thanks to an automated system 14 for applying the strip of waterproof material 10, as shown diagrammatically in Figures 3 and 4. The panels 6 forming the insulating and waterproof mass 1 of the tank are here represented in perspective and seen from the inside of the tank.

[0052] The automated system 14 may for example be a robot which glues the panels 6 and places the strip of waterproof material 10 over the panels 6 in order to close the gaps 8 and thus make the tank membrane 3 completely waterproof. In order to move automatically along the insulating and waterproof mass 1 of the tank, the automated system 14 may comprise a means of locomotion, for example wheels and a motorized chassis 16. Furthermore, the automated system 14 may comprise a holding device, not shown, allowing it to move flat on the vertical wall, i.e. the side wall 4 of the tank shown in [Fig. 3], without slipping or falling. Furthermore, in the context of [Fig. 2], the automated system 14 is adapted to move between two additional panels 12.

[0053] According to the example of [Fig.4], the automated system 14 moves over the insulating and sealed mass 1 of the tank in a direction of movement D while being arranged on the bottom wall 2, that is to say flat and horizontally. More particularly, the automated system 14 moves over the gap 8 and along the entire length of the gap. The role of the automated system 14 is to deposit segments of fluid 18 having adhesive properties on the panels 6, on either side of the gap 8, then to come to apply the strip of waterproof material 10 in support against these segments of fluid 18, in order to stick the strip of waterproof material 10 against the panels 6 and thus to make the membrane 3 of the tank perfectly waterproof. The automated system 14 can thus move in all directions, along all the interstices 8 of the insulating and waterproof mass 1 of the tank in order to make it completely waterproof.

[0054] In order to ensure optimal sealing, the automated system 14 must lay the strip of sealing material 10 according to very precise requirements. One of these requirements concerns in particular the distance which separates the two fluid segments 18 from each other. Furthermore, in the case where the automated system 14 moves against the side wall 4 of the tank as shown in [Fig. 3], the automated system 14 must be capable of laying the fluid segments 18 in such a way that they maintain a suitable position for sticking the strip of sealing material 10. More particularly, when laying the fluid segments 18 at the side wall 4 of the tank, they are caused to move in the vertical direction VI of the tank and towards the bottom wall 2, due to a gravitational phenomenon, such a movement being detrimental to the sealing of the tank.The automated system 14 according to the invention has structural characteristics making it possible to meet such requirements and ensure the correct arrangement of the fluid segments 18, independently of the wall of the tank along which the automated system 14 moves.

[0055] It is understood from the above explanations that the same automated system 14 is used to seal the gaps which are on a horizontal tank wall, on a vertical tank wall or on a chamfered wall of such a tank. The invention achieves this objective by allowing automatic adjustment of at least one cannula as a function of the position of the gluing system which equips the automated system.

[0056] [Fig. 5] represents the automated system 14 seen from the side and illustrates the various elements making up said automated system 14. The latter comprises the motorized chassis 16 mentioned previously, as well as a gluing device 20, a device 22 for applying the strip of waterproof material 10 and at least one cylinder 24.

[0057] It is the gluing device 20 which makes it possible to place the fluid segments 18 on the panels 6 of the insulating and waterproof block 1, and more particularly on the waterproof membrane 3 which covers the panels 6. To do this, the gluing device 2 comprises at least one gluing member 26. In the example of the invention, the gluing device 20 comprises two gluing members 26. In [Fig. 5], only one gluing member 26 is illustrated, but there are two gluing members 26 arranged one behind the other, each of the gluing members 26 forming one of the two fluid segments 18 illustrated in [Fig. 4] in order to correctly ensure the operation of gluing the strip of waterproof material 10.

[0058] The gluing device 20 extends along a main elongation axis Ion- longitudinal axis LO and the at least two gluing members 26 are spaced from each other along a transverse axis TO of the gluing device 20, perpendicular to its longitudinal axis LO.

[0059] Each gluing member 26 comprises at least one fluid connector 28 and at least one fluid circulation control member 30, to which the fluid connector 28 is connected. The fluid connector 28 makes it possible to circulate a fluid coming from a pipe 32 to the control member 30. The pipe 32 connected to the fluid connector 28 can for example be connected to a fluid reservoir provided with a pump ensuring the circulation of the fluid, said reservoir and said pump not being shown.

[0060] The control member 30 comprises in particular a valve making it possible to authorize or prohibit the circulation of the fluid coming from the fluid connector 28. The valve makes it possible to control the flow rate of fluid but also, if there are several fluid connectors within which different fluids circulate, to regulate a proportion of each of these fluids, in order to form the fluid segments 18 with optimal adhesive properties. This is particularly the case when the fluid is a mixture of a resin and a hardener.

[0061] Each gluing member 26 also comprises a cannula 34 which may for example consist of a cylinder within which the fluid circulates until the latter leaves the cannula 34 and is deposited on the waterproof membrane 3. In order to promote the deposition of the fluid segments 18 on this membrane 3, each cannula 34 is oriented towards the surface of the panels 6. The deposition of the fluid is done continuously and simultaneously with the movement of the automated system 14 in the direction of movement D, thus forming the fluid segments 18.

[0062] The gluing device 20 according to the invention further comprises a control system 36, particularly visible in FIGS. 6 and 7, comprising at least one means 38 for moving the at least one cannula 34 along an axis AS intersecting the longitudinal axis LO of the gluing device 20. More particularly, and according to a non-limiting example of the invention, the at least one cannula 34 is capable of moving along the axis AS intersecting the longitudinal axis LO of the gluing device 20. The control system 36 further comprises at least one control unit 40 for the movement means 38 and at least one means 42 for determining the position of the gluing device 20 relative to the wall 2, 4 of the tank.

[0063] The control system 36, and in particular the determination means 42, makes it possible to determine the position of the gluing device 20 in the tank, and in particular to determine whether the latter moves along the vertical side wall 4 as shown in [Fig. 3] or along one of the horizontal walls, in particular the bottom wall 2, as illustrated in [Fig. 4], or even along a chamfer wall when the tank is provided with it. In the context of the invention, it is understood that, more generally, the determination means 42 detects the particular position of the automated system 14, comprising the gluing device 20 according to the invention, within the tank.

[0064] To this end, the means 42 for determining the position of the gluing device 20 comprises at least one detection element 44 capable of determining a positioning of the gluing device 20 against the side wall 4 of the tank. It is then understood that the detection element 44 according to the invention is capable of detecting a gravitational change between a position of the gluing device 20, for example on the bottom wall, and a position of the gluing device 20 on the side wall of the tank.

[0065] The detection element 44 can then take several forms such as for example that of an accelerometer, a gyroscope, an optical detection device such as a camera or even an inertial unit. For example, in the case where the detection element 44 is an accelerometer, the latter is capable of detecting a variation in the position of the gluing device 20 at least along the vertical direction VI of the tank.In other words, the accelerometer is capable of discriminating a position of the gluing device 20 where its transverse axis TO intersects the vertical direction VI of the tank, corresponding to a position of said gluing device 20 against the bottom wall 2 or the upper wall relative to a position of the gluing device 20 where its transverse axis TO is parallel, or substantially parallel, with the vertical direction VI of the tank, corresponding to a position of said gluing device 20 against the side wall 4 of the tank as shown in [Fig.3].

[0066] As mentioned above, at least one cannula 34 is capable of moving along the axis AS intersecting the longitudinal axis LO of the gluing device 20. More precisely, a displacement of at least one cannula 34 along the axis AS intersecting the longitudinal axis LO of the gluing device is between 0 and 40 mm, and preferably between 0 and 20 mm. Thus, it is understood that in the example of the invention where the gluing device 20 comprises two cannulas 34, each of these is capable of exhibiting a displacement along the axis AS intersecting the longitudinal axis LO of the gluing device of between 0 and 40 mm. This value defines the amplitude of displacement that the cannula(s) can undergo.

[0067] The at least one cannula 34 is arranged at a nominal distance from a central direction 11 of the gap 8 which is between 45 mm and 65 mm. This central direction is a straight line which extends into the gap and divides it laterally into two identical parts. The distance is nominal in the sense that it corresponds to the intermediate position of the cannula, between its position furthest from the gap 8 and its position closest to the gap 8. This nominal distance is for example that which corresponds to the position of the at least one cannula 34 when the device gluing 20 is arranged flat and horizontally, on the bottom wall of the tank or on the upper wall of the tank.

[0068] When the gluing device 20 is placed flat against a side wall of the tank, or a chamfer wall of the tank, the position of the cannula is adjusted to + / -20mm around the nominal distance. With regard to the upper cannula, the distance from the central direction 11 of the gap 8 is increased. For the lower cannula, the distance from the central direction 11 of the gap 8 is decreased.

[0069] A first direction SI of the at least one cannula 34 is then defined, corresponding to a direction parallel to the axis AS intersecting the longitudinal axis LO of the gluing device, approaching the gap 8, and a second direction S2 of the at least one cannula 34 corresponding to a direction parallel to the axis AS intersecting the longitudinal axis LO of the gluing device, moving away from the gap 8. The first direction SI and the second direction S2 also apply to the case where the gluing device 20 comprises two cannulas 34, the first direction SI of each of the cannulas 34 bringing them closer to each other towards the gap 8 and the second direction S2 moving them away from each other, moving away from the gap 8. It is also appropriate to consider that the terms, first and second direction SI, S2 do not assume a priority direction relative to each other, during operation of the gluing device 20.

[0070] Furthermore, according to a characteristic of the invention, a distance C between the two cannulas 34 of the gluing device 20, taken along the transverse axis TO of said gluing device 20, is between 90 and 130 mm, preferably between 100 and 120 mm, for example 110 mm.

[0071] The displacement means 38 according to the invention, particularly visible in [Fig. 6], comprises at least one actuator 46 placed under the control of the control unit 40 and which implements the translation of the at least one cannula 34 along the axis AS intersecting the longitudinal axis LO of the gluing device 20. According to a non-limiting example of the invention, the actuator 46 comprises at least one worm screw 48 integral in rotation with at least one cannula 34 and a drive member 52 capable of driving the worm screw 48 in rotation.

[0072] According to the example of the invention comprising at least two cannulas 34, a first alternative of the displacement means 38 visible in [Fig. 6], comprises the actuator 46 with the worm screw 48 previously described, integral in rotation with the at least two cannulas 34 and driven in rotation by the drive member 52. According to the example of the invention illustrated in [Fig. 6], the drive member 52 drives the worm screw 48 in rotation via a gear 50 capable of cooperating with a thread of the worm screw 48 and connected to the drive member 52. According to another example of the invention not illustrated, the drive member can be connected to the worm screw via a rotation shaft di directly secured to the worm screw and the drive member, said worm screw being secured to the at least two cannulas so as to move them both simultaneously.

[0073] According to a second alternative of the displacement means 38, visible in [Fig.7], the displacement means 38 comprises at least two actuators 46 each comprising a worm screw 48 which cooperates with a drive member 52 distinct from one another, each of the assemblies formed at least of a worm screw 48 and a drive member 52 being associated with one another via a rotation shaft. It is then understood that in such a configuration, each of the worm screws 48 cooperates distinctly with a single cannula 34.

[0074] In other words, for each cannula, the invention comprises a worm screw driven in rotation directly by a drive member, for example a stepper electric motor.

[0075] It is then understood that in the first alternative of the displacement means 38 illustrated in [Fig. 6], the at least two cannulas 34 integral in rotation with the same worm screw 48 are configured to move along the axis AS intersecting the longitudinal axis LO of the gluing device simultaneously. Conversely, it is understood from the second alternative of the displacement means 38 illustrated in [Fig. 7] that each of the worm screws 48 is integral in rotation with a single cannula 34, these cannulas being able to move along the axis AS intersecting the longitudinal axis LO of the gluing device in a manner dissociated from one another.

[0076] Furthermore, according to the invention, the at least one drive member 52 ensures the rotational movement of the gear 50 or the worm screw 48 in two directions of rotation RI, R2 opposite to each other and around an axis of revolution of the gear or the worm screw. The directions of rotation RI, R2 of the gear 50 have been shown in [Fig. 6], and these directions of rotation also apply to the at least one worm screw 48 illustrated in [Fig. 7].

[0077] It is then understood that the two opposite directions of rotation RI, R2 make it possible to move the at least one worm screw 48 in the first direction SI and the second direction S2 of movement of the cannulas 34 mentioned previously. It is also understood that in the first alternative of the movement means 38, a single drive member 52 is associated with the single gear 50 of the movement means 38 or with the single worm screw 48, while in the second alternative of the movement means 38, each of the at least two gears or of the at least two worm screws 48 is associated with a separate drive member 52. According to a non-limiting example of the invention, the drive member 52 takes the form of a stepping electric motor.

[0078] In order to determine a reference position of the at least one cannula 34 relative to a main body 54 of the gluing device 20, the control system 36 comprises at least one sensor 56 of the reference position of the at least one cannula 34 relative to the main body 54. In other words, it is understood that the at least one sensor 56 allows the control system 36 to know the initial position of the cannula 34 relative to the main body 54 of the gluing device 20, when the latter comes into contact with said sensor 56.

[0079] Thus, it is understood that in the first alternative of the displacement means 38, a single sensor 56 of the reference position is associated with the two cannulas 34, while in the second alternative of the displacement means 38, each of the cannulas 34 is associated with its own sensor 56, said cannulas 34 being able to move independently of one another in the first direction S1 or the second direction S2.

[0080] The control unit 40 according to the invention is capable of processing at least one signal received from the means 42 for determining the position of the gluing device 20 relative to the tank wall and of generating a control signal for the movement means 38 as a function of at least the signal received from the determination means 42. In other words, it is understood that the means 42 for determining the position of the gluing device is capable of generating a position signal which comprises the information as to the position of the gluing device 20 on the bottom wall 2 or on the side wall 4, then of transmitting this position signal to the control unit 40 so that the latter processes the information.

[0081] Thus, the control unit 40 receiving at least the position signal is capable of generating a control signal as a function of the information received at least by the position determination means 42, that is to say as a function of the position of the gluing device 20, on the bottom wall or against the side wall of the tank or against a chamfer wall of the tank. Thus, as a function of the determined position of the gluing device 20 in the tank, the control unit 40 controls the displacement means 38 so that the position of the at least one cannula 34 is adjusted as a function of the position of the gluing device.

[0082] The control unit 40 sends a control signal to the displacement means 38 so that the cannulas 34a, 34b both move in the second direction S2 in order to reach their respective reference position in contact with the sensors 56. Thus, the sensors 56 of the reference position of the cannulas 34a, 34b send a reference signal to the control unit 40 so that the latter takes into consideration the initial position of the cannulas 34a, 34b relative to the main body 54.

[0083] In a situation where the gluing device 20 is arranged against the bottom wall 2 and moves on it, one of the cannulas, hereinafter called the second cannula 34b, is placed the nominal distance from the central direction 11 of the gap 8. This nominal distance is for example equal to 55 mm. The other cannula, hereinafter called the first cannula 34a, is also placed at the nominal distance from the central direction 11 of the gap 8 and this nominal distance is also equal to 55 mm.

[0084] In this use of the gluing device 20, the first cannula 34 and the second cannula 34b are therefore at equal distance from the central direction 11 of the gap 8.

[0085] In the presence of the position signal and the reference signal, the control unit 40 is able to generate one or two control signals, depending on the embodiment, which activate the drive member 52, in order to move the cannula(s) 34 along the axis AS intersecting the longitudinal axis LO of the gluing device.

[0086] Considering that the gluing device 20 is arranged against the side wall 4 of the tank, the second cannula 34b is moved until it is arranged 65 mm from the central direction 11 of the gap 8, while for the first cannula 34a, the latter is moved to be positioned 45 mm from the central direction 11 of the gap 8, such movements being carried out automatically by simple detection of the spatial position of the gluing device according to the invention. The position of the cannulas 34a, 34b is therefore different from the case where the gluing device 20 is located on the bottom wall of the tank, and where the cannulas 34a, 34b are at the same distance from the central direction 11 of the gap 8, for example 55 mm.

[0087] The automated system 14 according to the invention also comprises the application device 22, visible in [Fig. 5], making it possible to apply the strip of waterproof material 10 to the panels 6 once the segments of fluid 18 have been deposited on said panels 6. The application device 22 comprises for example a roll 58 of strip of waterproof material 10 which unwinds progressively as the automated system 14 moves.

[0088] This being done, the cylinder 24 presses the strip of waterproof material 10 against the fluid segments 18 and the panels 6 in order to complete the operation of bonding the strip of waterproof material 10 by spreading the glue by pressure.

[0089] According to what has been described above, a method is defined for applying the strip of waterproof material 10 for sealing the membrane 3 of the cryogenic fluid transport and / or storage tank, the method implementing the automated system 14 according to the invention. The method is notably described in cooperation with FIGS. 3 to 7.

[0090] The method according to the invention comprises at least one step during which the determination means 42 determines the position of the gluing device 20 relative to the tank wall 2, 4. In other words, during this step, the detection element 44 of the determination means 42 detects the position of the gluing device 20 relative to the tank wall 2, 4 as described previously, so as to determine whether the gluing device 20 is arranged against the tank wall 2, 4. bottom 2 or higher, against the side wall 4 or against a chamfer wall, the latter being inscribed in a plane which forms an angle between 120 and 165° relative to a vertical plane.

[0091] Once the position has been determined, the determining means 42 sends the position signal to the control unit 40 so that the latter processes the information regarding the position of the gluing device 20.

[0092] At another simultaneous or successive step, the control unit 40 sends a control signal to the displacement means 38 so that the at least one cannula 34 moves in the second direction S2 in order to reach its reference position in contact with its sensor 56. Once this activation of the sensor 56 has been carried out, the latter sends the reference signal to the control unit 40 so that the latter processes the information.

[0093] Upon receipt by the control unit 40 of the position signal and the reference signal, the latter determines whether a movement of the at least one cannula 34 along the axis AS intersecting the longitudinal axis LO of the gluing device is necessary. In the case where such a movement is necessary, the control unit 40 sends a control signal to the movement means 38, such that the latter moves the at least one cannula 34 along the axis AS intersecting the longitudinal axis LO of the gluing device in the first direction SI, for the example described here.

[0094] It is understood that such a movement in the first direction SI of the at least one cannula 34 is carried out in such a way that said cannula 34 deposits the fluid segment 18 in an offset manner in the vertical direction of the tank. In other words, the cannula 34 is offset along the axis AS in such a way as to move the fluid segment 18 away from the bottom wall in the vertical direction of the tank. Such an offset of the cannula 34 makes it possible to compensate for the gravitational effect that the fluid segment 18 undergoes when the gluing device 20 is located on the vertical or chamfered side wall of the tank.

[0095] According to the example of the invention comprising two cannulas 34a, 34b, the control unit moves the latter in such a way that the first cannula 34a is closer to the gap 8 and the second cannula 34b is further from the gap 8. Advantage is thus taken of the gluing device according to the invention in that it makes it possible to autonomously modify the position of at least one cannula for depositing a fluid segment, by adapting its position to the position constraints of the gluing device. This makes it possible to optimize the sealing of the tank membrane by reducing the risk of position error of the at least one fluid segment necessary to glue the strip of waterproof material.

[0096] Variants not described here could be implemented without departing from the context of the invention, provided that, in accordance with the invention, they comprise a gluing device according to the invention.

Claims

Claims

1. Gluing device (20) for an automated system (14) for applying a strip of waterproof material (10) for sealing a membrane (1) of a wall (2, 4) of a tank for transporting and / or storing a gas in the liquid state, the gluing device (20) extending along a main longitudinal elongation axis (LO) and comprising at least one gluing member (26) which comprises at least one cannula (34) configured to deposit a segment of adhesive fluid (18) on said tank membrane (1), the gluing device (20) comprising at least one control system (36) which comprises at least one means (38) for moving the at least one cannula (34) along an axis (AS) intersecting the longitudinal axis (LO) of the gluing device (20), at least one control unit (40) of the displacement means (38) and at least one means (42) for determining the position of the gluing device (20) relative to the wall (2, 4) of the tank,the control unit (40) being capable of processing at least one signal received from the means (42) for determining the position of the gluing device (20) relative to the wall (2, 4) of the tank and of generating a control signal for the movement means (38) as a function of at least the signal received from the determination means (42).,

2. Gluing device (20) according to the preceding claim, in which the determining means (42) comprises at least one detection element (44) capable of determining a positioning of the gluing device (20) against a side wall (4) of the tank.

3. Gluing device (20) according to claim 2, in which the detection element (44) is chosen from an accelerometer, a gyroscope, an optical detection device, an inertial unit.

4. Gluing device (20) according to any one of the preceding claims, wherein the control system (36) comprises at least one sensor (56) of a reference position of the at least one cannula (34) relative to a main body (54) of the gluing device (20).

5. Gluing device (20) according to any one of the preceding claims, in which the displacement means (38) comprises at least one actuator (46) placed under the control of the control unit (40) and which implements a translation of the cannula (34) along the axis (AS) intersecting the longitudinal axis (LO) of the gluing device (20).

6. Gluing device (20) according to the preceding claim, in which the actuator (46) comprises at least one worm screw (48) integral in rotation with the at least one cannula (34) and a drive member (52) capable of driving the worm screw (48) in rotation.

7. Gluing device (20) according to the preceding claim, in which the actuator (46) comprises at least one gear (50) which cooperates with a thread of the worm screw (48), the gear (50) being driven in rotation of the drive member (52).

8. Gluing device (20) according to any one of claims 6 or 7, comprising at least two cannulas (46), the worm screw (48) being configured to simultaneously move the at least two cannulas (34).

9. Gluing device (20) according to claim 6, comprising at least two cannulas (34a, 34b), the displacement means (38) comprising at least two actuators (46) each comprising a worm screw (48) and a drive member (52) capable of driving the worm screw (48) in rotation, each of the worm screws (48) being associated with a single cannula (34a, 34b).

10. Gluing device (20) according to any one of the preceding claims, wherein a displacement of at least one cannula (34) along the axis (AS) intersecting the longitudinal axis LO of the gluing device (20) relative to a central direction (11) of the gap (8) is between 0 and 40 mm.

11. Automated system (14) for applying a strip of waterproof material (10) against a membrane (1) of a tank for transporting and / or storing a cryogenic fluid, comprising a motorized chassis (16), a gluing device (20) according to any one of the preceding claims, a device (22) for applying the strip of waterproof material (10) to the tank membrane (1) and at least one cylinder (24) which rolls to press the strip of waterproof material (10) against the tank membrane (1).

12. Method for applying a strip of waterproof material (10) for sealing a membrane (1) of a tank for transporting and / or storing a cryogenic fluid, the method implementing an automated system (14) according to the preceding claim, the method comprising at least one step during which the determining means (42) determines the position of the gluing device (20) relative to the wall (2, 4) of the tank, then at least one other step during which the control unit (40) moves the at least one cannula (34) along the axis (AS) intersecting the longitudinal axis (LO) of the gluing device (20).

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