储罐底板在线检测机器人开发

1. 中国石油管道科技研究中心· 油气管道输送安全国家工程实验室;2. 中国石油管道公司工程造价管理中心;3. 中国石油管道公司沈阳输油气分公司

机器人技术;在线检测;腐蚀;定位;防爆

Development of tank floor in-service inspection robot
KANG Yewei1, ZHANG Yi2, GUO Zhenghong1, LI Zhidan3, SUN Lei3, LI Qiuping1

1. PetroChina Pipeline R & D Center//National Engineering Laboratory for Pipeline Safety;2. Engineering Cost Management Center, PetroChina Pipeline Company;3. Shenyang Oil & Gas Transmission Sub-company, PetroChina Pipeline Company

robotic technology, in-service inspection, corrosion, positioning, explosion-proof

备注

机器人检测是当今最为先进的储罐底板定量在线检测手段,然而中国尚无此类机器人设备,无法适应未来管道智能化发展的需求。针对中国首台储罐底板在线检测机器人的研发工作,介绍了该技术的发展现状,并依据中国储罐特点与检测需求,提出机器人设计需要考虑的因素和功能的实现方案。研究表明:机械结构设计、关键功能单元实现方案、防爆设计及必要的辅助设计是机器人开发的重要内容。机械结构设计重点考虑外形尺寸、质量、驱动方式、传感器搭载机构、缆线重力平衡、制作材料、淤积层处理等因素;机器人基于声波到达时差原理确定位置和方向,采用浸入式超声技术进行缺陷检测;采取组合防爆措施使机器人的设备保护级别达到Gb 级以满足多数应用场合。设计方案和研究成果对于中国储罐机器人在线检测技术的发展和设备国产化具有重要意义。(图2,参[22]

Robot is the most advanced method for the quantitative in-service inspection of tank floor at present. In China, however, there is no such robot equipment to satisfy the needs of intelligent pipeline development in the future. For the research and development of Chinese first tank bottom in-service inspection robot, the development status of this technology was analyzed in this paper. In addition, its design considerations and functional implementation scheme were proposed according to the characteristics and inspection requirements of storage tanks in China. It is shown that mechanical structure design, implementation scheme of key functional units, explosion-proof design and necessary auxiliary design are important aspects of robot development. The mechanical structure design mainly focuses on the factors of dimension, weight, driving method, sensor mounting mechanism, cable gravity balance, materials and debris layer processing. The robot determines its position and direction based on the principle of time difference of sound wave, and inspects the defects by means of the immersion ultrasonic technology. The adoption of the combined explosion-proof measures can increase the robot’s equipment protection level to Gb so as to meet most applications. The design scheme and research results are of great significance to the development of tank bottom in-service inspection robot technology and the realization of equipment localization in China. (2 Figures, 22 References)