PROGRAMMABLE TANK CLEANING NOZZLE

• US 20200130029A1
• Filed: 12/23/2019
• Published: 04/30/2020
• Est. Priority Date: 06/11/2018
• Status: Active Grant

• Current Assignee: AGI Engineering, Inc.
• Original Assignee: AGI Engineering, Inc.
• Inventors: Innes, Alexander G.
• Granted Patent: US 11,267,024 B2
• Time in Patent Office: Days
• CPC Class Codes: B05B 1/14 with multiple outlet openings B05B1/02, B05B1/26 take precedence; with strainers in or outside the outlet opening
• CPC Class Codes: B05B 13/0636 by means of rotatable spray heads or nozzles
• CPC Class Codes: B05B 3/028 the rotation being orbital B05B3/0445 and B05B3/066 take precedence
• CPC Class Codes: B05B 3/06 by jet reaction , i.e. creating a spinning torque due to a tangential component of the jet
• CPC Class Codes: B08B 2209/045 Making cleaning devices buoyant within a pipeline to be cleaned
• CPC Class Codes: B08B 9/0433 provided exclusively with fluid jets as cleaning tools
• CPC Class Codes: B08B 9/0495 Nozzles propelled by fluid jets
• CPC Class Codes: B08B 9/093 by the force of jets or sprays B08B9/0813 , B08B9/20 take precedence
• CPC Class Codes: B08B 9/0936 using rotating jets
• CPC Class Codes: E03F 9/005 Apparatus for simultaneously pushing and rotating a cleaning device carried by the leading end of a cable or an assembly of rods

Abstract

Manual, automated, or semi-automated programmable tank cleaning nozzle systems, devices and methods for providing safe and efficient methods for breaking up oil, tar, chemical, radioactive, hazardous, or any other liquid, solid, or sludge waste inside storage tanks, ballast tanks, floating roof tanks, void tanks, rail tank cars and the like with nozzles which utilize fluid jets to break up, liquefy, and motivate tank material. The programmable tank cleaning nozzle incorporates two degrees of freedom and can be mounted to existing booms, robotic arms, gantry systems, rigid beams, manways, or any other rigid structure. The programmable tank cleaning nozzle can be a standalone, independent unit or integrated into new designs and/or existing systems. Simplified programming and user interface allowing an operator to remotely operate the system without the need for a camera system. The system is hydraulically controlled and can work in the presence of flammable vapors and dust.

Claims

1. A hydraulically controlled, programmable tank cleaning nozzle system, comprising:

a tank cleaning nozzle having one or more degrees of freedom that operates as an independent, standalone unit with a multiple axes motion controller; and

a mount for mounting the tank cleaning nozzle to a structure selected from one of any existing;

a pipe, a boom, a robotic arm, a gantry system, a rigid beam, a manway, and another rigid structure.

2. The system of claim 1, further comprising:

controls integrated into the system using at least one of;

Ethernet, Profibus, DeviceNet, or any other network protocol or fieldbus communication protocol to interface with third party equipment.

3. The system of claim 1, further comprising:

at least two 2 hydraulically controlled, programmable tank cleaning nozzle systems working in concert.

4. The system of claim 1, further comprising:

a multiple axes motion controller, hydraulic power unit, and manifold with flow modulating electro-hydraulic valves to control hydraulically actuated motors for operating the system in hazardous and explosive environments.

5. The system of claim 1, further comprising:

a control station with a human machine interface allowing control of the system from up to approximately 1000 feet away from the system.

6. The system of claim 1, wherein the tank cleaning nozzle includes:

a nozzle assembly comprised of one or more low pressure, high flow fluid jet operating a pressure of up to, but not limited to approximately 5000 psig and a flow rate ranging from approximately 10 to approximately 500 GPM.

7. The system of claim 1, wherein the tank cleaning nozzle includes:

a nozzle assembly comprised of one or more high pressure, low flow fluid jet working at a pressure ranging from approximately 5,000 psig to approximately 50,000 psig and a flow rate range from approximately 0 to approximately 50 GPM.

8. The system of claim 1, further comprising:

one or more low pressure, high flow fluid jets integrated with one or more high pressure, low flow fluid jets where the low pressure, high flow fluid jets operates at a pressure of up to approximately 5000 psig and a flow rate ranging from approximately 10 to approximately 500 GPM and a high pressure, low flow fluid jets operating at a pressure range between approximately 5,000 psig to approximately 50,000 psig and a flow rate range from 0 to approximately 50 GPM.

9. The system of claim 1, further comprising:

an inspection system that includes a camera housed in a protective case behind protective glass.

10. The system of claim 1, further comprising:

a distance measurement system comprising a laser sensor mounted on the nozzle assembly.

11. The system of claim 1, further comprising:

an encoder transmitting data over fiber optic cables for operation in hazardous environments.

12. The system of claim 1, further comprising:

a plurality of crash detection whisker style limit switches mounted radially around the tank cleaning nozzle.

13. The system of claim 1, further comprising:

software that analyzes point cloud data to recognize standard geometry and then populate missing data to yield a complete feature profile.

14. The system of claim 13, further comprising:

a 3D sensor that scans the area such that the software renders point cloud data into 3D CAD models.

15. The system of claim 1, further comprising:

a homing sensor using fiber optics for use in hazardous environments.

16. The system of claim 1, further comprising:

a shear pin on the fluidized jet assembly to protect gears from damage in the event the nozzle assembly is dropped or hit.

17. The system of claim 1, further comprising:

software for user definition of tank details and cleaning parameters selected from at least one of toolpath, speeds and dwell times.

18. The system of claim 1, further comprising:

two opposing fluid jet nozzles, approximately 180 degrees apart, to balance thrust forces.

19. The system of claim 1, further comprising:

a pan and tilt axis drive each consisting of a parallel shaft gear train where spur gears have the capability to be added, subtracted, or rearranged to achieve a reduction ratio ranging from approximately 40;

1 up to approximately 400;

1.

20. The system of claim 1, further comprising:

low drag, through the use of low friction rotary seals for high flow, low pressure and high pressure, low flow fluids and low drag bushings formed from low friction plastic.