CN102764750A - Oil tank cleaning robot - Google Patents
Oil tank cleaning robot Download PDFInfo
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- CN102764750A CN102764750A CN2012102847155A CN201210284715A CN102764750A CN 102764750 A CN102764750 A CN 102764750A CN 2012102847155 A CN2012102847155 A CN 2012102847155A CN 201210284715 A CN201210284715 A CN 201210284715A CN 102764750 A CN102764750 A CN 102764750A
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Abstract
The invention discloses an oil tank cleaning robot. The robot comprises a robot body, a walking unit, a cleaning unit, a control unit, a sensing communication unit and a power supply unit, wherein the robot body comprises a base plate, a lower casing and an upper casing, the walking unit comprises three driving wheels and three driving wheel hydraulic motors, the cleaning unit comprises a cleaning device and a self-excitation pulse device, the cleaning device comprises three cleaning disk brushes and three cleaning disk brush hydraulic motors, the self-excitation pulse device comprises a pulse device hydraulic motor, a retractable beam assembly and a self-excitation oscillating pulse nozzle, the control unit is composed of a remote control portion and a robot body control portion, and the sensing communication unit comprises a pressure sensor, a temperature sensor, an infrared sensor, an ultrasonic sensor, a horizontal attitude sensor, a turbidity sensor, a camera and an oil-gas concentration monitor. The robot is novel in design, high in intelligent degree, high in working reliability, good in safety performance, energy-saving, environment-friendly, high in practicability, high in popularization and application value and capable of achieving omni-directional cleaning.
Description
Technical field
The present invention relates to oil tank cleaning technique field, especially relate to a kind of oil tank cleaning robot.
Background technology
At present, in the China's oil chemical industry,,, produce 800,000 tons of jar bed muds, pond bed mud every year on average because oil quality is difficult to assurance for for example crude oil such as oil storage tank and oil truck memory device.The generation of greasy filth and accumulation not only influence oil quality, influence the use of oil storage equipment especially.Owing to the easy system of Himdu logic fire of the oil gas of high concentration or dying fire explode, be a danger and hard work therefore to the cleaning of oil tank bed mud.Past is manual work normally, and labour intensity is big, inefficiency, and accidents caused easily.Along with the nervous of the construction of Chinese large-sized oil oil tank, the energy with to the great attention day by day of environmental issue; Conventional artificial wash oil pot process has not met the objective requirement of environment and development; Must research and develop and use closed, need not the cleaning equipment that the people gets into the full automatic mechanical of oil tank, replace artificial the cleaning, to improve crude oil recovery rate and cleaning efficiency; Improve the oil tank cleannes; Reduce sump oil, sewage and waste gas to the pollution of environment, reduce work accident simultaneously, realize safety, healthy, environment protection-type cleaning.
The oil tank cleaning robot is clear irritate important of mechanization and effective instrument; Robot can move in jar automatically; Break up, cleaning or sucking-off deposit; Abroad like the Moverjet Vehicle of Britain NESL company; The vacuum tank car that is used to clean storage tank of Britain Surface Control company exploitation, power tool in the waterpower bull-dozer jar of the Hydrovac of Rugby industry and the exploitation of oil Services Co., Ltd, being used for fluidisation and spraying the complete water conservancy car that hits bed mud etc. of U.S. Petroleum Ferment company exploitation.
In recent years, a large amount of research had also been done in domestic cleaning at tank body, inspection machine people field, and had obtained certain breakthrough.Shanghai Communications University develops a kind of robot that detects the metallic oil tank volume that is specifically designed to, and is detected in alternative conventional artificial by shanghai refinery's station-service at present.In addition, it also is expected to be applied to hazardous environments such as oil storage tank, gas tank, chemical pressure container, detects a flaw, eliminates rust, sprays paint and work such as cleaning, and it is within sight that it is used for the oil storage tank tank-cleaning operation.Harbin Institute of Technology develops a kind of nuclear industry with the wall remote control inspection machine people that creeps; Be mainly used in inspection radioactive nucleus waste liquid storage tanks weld seam; The leakage hidden danger that causes because of the nuclear waste corrosion with timely discovery is also removed; Guarantee safety of environment, its key technology has very big facilitation to the research of clear jar of robot.Tianjin Enginnering Normal College and Shengli Oil Field are being developed the robot that is used for the oil storage tank cleaning cooperatively, and its key technology has obtained to break through.Current, the application of cleaning robot concentrate on basically that wall cleans, pipeline cleans, cable cleans and safeguard under water, aspect such as cleaning.As typical case's representative of cleaning robot philtrum, the application of clear jar cleaning robot is still not extensive, but its application prospect is very wide.At present, domestic large-scale oil storage tank cleaning is cleaned transition to mechanization gradually, and for example, Daqing oil field was changed Mechanized Washing Equipment since 2003.In addition, the clear jar equipment of mechanization has all been set about upgrading by most of subsidiary/member companies of CNOOC, PetroChina Company Limited., China Petrochemical Industry.
Deep all the more and extensive for the research and the application of cleaning robot automation, intelligent aspect both at home and abroad; But; Various cleaning robot of the prior art can't thoroughly clean the greasy filth in the oil tank well, and exists and realize that cost is high, use defective and deficiencies such as operation inconvenience, security performance are good inadequately.
Summary of the invention
Technical problem to be solved by this invention is a kind of oil tank cleaning robot to be provided, its novel and reasonable design to above-mentioned deficiency of the prior art; Intelligent degree is high, and functional reliability is high, and security performance is good; Can realize comprehensive cleaning to oil tank; Energy-conserving and environment-protective, practical, application value is high.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of oil tank cleaning robot; It is characterized in that: comprise body, walking unit, cleaning unit, control module and sensing communication unit, and the power supply unit that is used to said walking unit, cleaning unit, control module and the power supply of sensing communication unit;
Said body comprises base plate, be fixedly connected on the lower house of base plate top and be fixedly connected on the upper shell of lower house top;
Said walking unit comprises three driving wheels and is respectively applied for three driving wheel hydraulic motors that drive three driving wheels; Three said driving wheels are the embedding of equilateral triangle ground and are installed on the said base plate; Three said driving wheel hydraulic motors are laid on the said base plate with being equilateral triangle; Said driving wheel and said driving wheel hydraulic motor output shaft are joined, and the top of said driving wheel is set with and is connected with said base plate and is used to prevent that greasy filth sewage from entering into the water fender in the said lower house;
Said cleaning unit is made up of clearing apparatus and self-excited pulse device; Said clearing apparatus comprises three cleaning disc brushes and is respectively applied for three cleaning discs brush hydraulic motors that drive the rotation of three cleaning disc brushes; Three said cleaning disc brushes are laid in said floor below with being equilateral triangle; Three said cleaning disc brush hydraulic motors are the embedding of equilateral triangle ground and are installed on the said base plate, and said cleaning disc brush joins with said cleaning disc brush hydraulic motor output shaft; Said self-excited pulse device comprises telescopic beam assembly, is connected and is used to drive the pulser hydraulic motor and the self-excited oscillation pulse nozzle that is connected and is used for injection pulse with the telescopic beam assembly other end that telescopic beam assembly rotates with telescopic beam assembly one end, and said pulser hydraulic motor is installed in the lower house and with lower house and is fixedly connected;
Said control module is made up of Long-distance Control part and body control section; Said Long-distance Control partly comprises Artificial Control module and intelligent operation module; Said Artificial Control module comprises teaching console panel, first processor module and an I/O interface that joins successively, and said intelligent operation module comprises data storage, second processor module and the 2nd I/O interface that joins successively; Said body control section comprises controller module and the 3rd I/O interface that joins with said controller module; The output of said controller module is connected to the first fluid motor-driven device that is used to drive the driving wheel hydraulic motor, the 3rd fluid motor-driven device that is used to drive the second fluid motor-driven device of cleaning disc brush hydraulic motor and is used for driving pulse device hydraulic motor; The output of the said driving wheel hydraulic motor and the first fluid motor-driven device joins; The output of the said cleaning disc brush hydraulic motor and the second fluid motor-driven device joins; The output of said pulser hydraulic motor and the 3rd fluid motor-driven device joins, and a said I/O interface and the 2nd I/O interface all join with the 3rd I/O interface;
Said sensing communication unit comprise be used for to said oil tank cleaning robot bump the pressure sensor that detects, temperature sensor, the infrared sensor that is used for said oil tank cleaning robot of sensing and inner wall of oil tank degree of closeness, the ultrasonic sensor that is used for the said oil tank cleaning robot of sensing and inner wall of oil tank or obstacle distance, the horizontal attitude sensor that is used for the said oil tank cleaning robot of sensing inclination angle that are used for temperature in the oil tank is detected, be used to detect turbidity transducer, the camera that is used for the said oil tank cleaning robot of sensing surrounding environment, the searchlight that is used to throw light on of cleannes at the bottom of the oil tank jar and be used to detect the gas concentration monitor of gas concentration in the oil tank; Said pressure sensor, infrared sensor and ultrasonic sensor are installed on the outer wall of said lower house; Said horizontal attitude sensor and turbidity transducer are installed in the bottom of said base plate; It is inner that said temperature sensor is installed in said upper shell, and said camera, searchlight and gas concentration monitor are installed in the top of said upper shell; Said pressure sensor, temperature sensor, infrared sensor, ultrasonic sensor, horizontal attitude sensor, turbidity transducer, camera and gas concentration monitor all join with the input of said controller module.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: the top of said upper shell is provided with spherical shell; Said gas concentration monitor is arranged on the surface of said spherical shell; Said camera and searchlight all are arranged in the said spherical shell and are exposed at outward on the surface of said spherical shell; Also be provided with working station indicator and buzzer in the said spherical shell, said working station indicator and buzzer are all outer to be exposed on the surface of said spherical shell, and said working station indicator and buzzer all join with the output of said controller module.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: being shaped as of said body outline is cylindrical; The top of said upper shell is symmetrically installed with two handles; The top of said upper shell is provided with the power pack that is used to install said power supply unit, has manhole on the sidewall of said upper shell, and said manhole place is equipped with manhole cover; The upper shell that is positioned at said manhole oblique upper is provided with through hole, and the top of said upper shell is symmetrically installed with two inert gas nozzle that are used in oil tank, replenishing the protectiveness inert gas.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: said driving wheel is made up of wheel carrier and the two circle rollers that are arranged side by side on said wheel carrier; Said roller is made up of the steel skeleton soft rubber outer with being wrapped in said steel skeleton, is laid with a plurality of cavitys chamber on the said soft rubber.
Above-mentioned a kind of oil tank cleaning robot is characterized in that: said cleaning disc brush is made up of the brush holder support, the brush dish that is connected the brush holder support bottom that join with said cleaning disc brush hydraulic motor output shaft and many bunches of bristles that are arranged on the brush dish lower surface.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: many bunches of said bristles polygonal in the shape of a spiral star on said brush dish lower surface distributes; The center of the length of said bristle from the periphery of said brush dish to said brush dish reduces gradually, and said bristle is made up of Bowden cable and the polyethylene layer that is wrapped in said Bowden cable surface.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: the center of said brush dish is one-body molded to have the sleeve pipe that upwards stretches out; The center of said bristle be provided with match with said sleeve pipe and oil supply tank in the SS that passes through of greasy filth and sewage; Said brush holder support comprises the bar bar that joins with said cleaning disc brush hydraulic motor output shaft and is arranged on said bar bottom and is used for fixing the connecting rod that is connected said sleeve pipe; Be set with the sleeve that the top is fixedly connected with said base plate on said the bar, the sidewall of said sleeve is provided with the oil pick-up tube interface that is used to connect oil pick-up tube, and the top of said sleeve is equipped with the clutch shaft bearing that is used to install said bar; The sleeve that is positioned at said clutch shaft bearing below is equipped with first oil sealing; The bottom of said sleeve is equipped with second bearing that is used to install said sleeve pipe, and the sleeve that is positioned at said second bearing top is equipped with second oil sealing, and said base plate is provided with the oil pumping pore that supplies oil pick-up tube to pass.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: said self-excited oscillation pulse nozzle comprises resonance chamber and to be arranged on resonance chamber inner and be used for the resonance chamber inner space is divided into the trilobed wheel of three resonators; The top center position of said resonance chamber is provided with and is used for the water inlet of current branch to three resonators, and the bottom of said resonance chamber is provided with three delivery ports that match with three said resonance chamber respectively.
Above-mentioned a kind of oil tank cleaning robot, it is characterized in that: the top of said self-excited oscillation pulse nozzle is equipped with the scraping device that is connected and is used for the greasy filth of inner wall of oil tank and bottom is carried out spatula with said telescopic beam assembly.
Above-mentioned a kind of oil tank cleaning robot; It is characterized in that: said telescopic beam assembly comprise first extensible canopy, with hinged second extensible canopy of said first extensible canopy and three extensible canopy hinged with said second extensible canopy; The bottom of said first extensible canopy is fixedly connected with rotating disk; Said rotating disk is connected on the said pulser hydraulic motor output shaft; Be connected with the first hydraulically extensible cylinder between said second extensible canopy and the said pulser hydraulic motor, be connected with the second hydraulically extensible cylinder between said second extensible canopy and said the 3rd extensible canopy, said self-excited oscillation pulse nozzle is fixedly connected with the end of said the 3rd extensible canopy; The output of said controller module is connected to and is used to control the first flexible hydraulic control valve of the first hydraulically extensible cylinder and is used to control the second flexible hydraulic control valve of the second hydraulically extensible cylinder; Said first hydraulic control valve is connected on the oil feed line of the first hydraulically extensible cylinder, and said second hydraulic control valve is connected on the oil feed line of the second hydraulically extensible cylinder.
The present invention compared with prior art has the following advantages:
1, the present invention adopt three equilateral triangle layouts driving wheel as walking mechanism, compact conformation, move flexibly, through Long-distance Control robot freedom in tank body is moved in all directions, realize comprehensive cleaning to oil tank.
2, many bunches of bristles of the present invention polygonal in the shape of a spiral star on brush dish lower surface distributes; The special spiral pattern layout of bristle cooperates rotation can form the negative pressure eddy current towards the center; Being cleaned loose greasy filth and the sewage of dish brush cleaning can be arranged in the SS of bristle center position by automatic stream under the effect of negative pressure eddy current; Can easily greasy filth and sewage be extracted out, be convenient to the collection of greasy filth and sewage.
3, body of the present invention is provided with handle, is convenient for carrying and moves, and has manhole on the body, is convenient to install and maintenance.
4, the composite construction of the roller of driving wheel employing steel skeleton and soft rubber among the present invention; Utilized bionics principle, when said oil tank cleaning robot person walks, under the effect of gravity; Soft rubber deforms; Gas in a plurality of cavitys chamber is discharged and is formed negative-pressure adsorption power, makes said oil tank cleaning robot be adsorbed on tank bottom, and direct friction generation spark influenced job safety at the bottom of this kind novel designs both can have been avoided the oil tank jar of driving wheel and steel; Can make said oil tank cleaning robot when work, keep stability preferably again, and common relatively negative-pressure adsorption does not need additionaling power.
5, the self-excited pulse device among the present invention has common HVDC and cleans inaccessible cleaning performance, and energy savings is simultaneously used running water and without cleaning agent, can be avoided secondary pollution, is beneficial to the subsequent treatment of greasy filth.
6, self-excited oscillation pulse nozzle of the present invention has the advantage of three outlets of an inlet, can form the impact coverage rate, and greasy filth in the oil tank is charged and attacked, loosens and cleans, and cleaning performance is good.
7, the present invention has realized clearing apparatus, scraping device and the triple cleanings of self-excited pulse device; Clearing apparatus is primarily aimed at the tank bottom of sludge deposition; The self-excited pulse device effectively breaks up to the greasy filth at the oil tank wall or jar end and smashes; Scraping device cleans to the self-excited pulse water jet and dish is scrubbed halfway firm greasy filth, and whole cleaning performance is good; Bristle is made up of Bowden cable and the polyethylene layer that is wrapped in said Bowden cable surface, has intensity and cleaning performance preferably, and can avoid the friction generates spark.
8, the whole hydraulic-driven that adopts of robot among the present invention has higher safety coefficient on the hardware, with the electricity that generally adopts drive that specific energy mutually reduces that electric spark occurs maybe.
9, the control module among the present invention can make robot be operated under Artificial Control and two kinds of patterns of intelligent operation, has improved the intelligent degree of robot work, has alleviated operating personnel's task difficulty and intensity.
10, the complete function of sensing communication unit of the present invention; Can in time feed back the technical parameter in the operation process; And control the oil tank cleaning robot preferably; In time replenishing of inert gas can be guaranteed the safety in the operation process, can make the oil tank cleaning robot under the airtight environment of whole process, carry out operation.
11, the present invention has adopted wired connection and control, and communication receives the interference of extraneous factor little, and functional reliability is high.
12, of the present invention practical, application value is high.
In sum, novel and reasonable design of the present invention, intelligent degree is high, and functional reliability is high, and security performance is good, can realize the comprehensive cleaning to oil tank, and energy-conserving and environment-protective are practical, and application value is high.
Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is the upward view of Fig. 1.
Fig. 3 is the present invention walk unit and the installation position sketch map of clearing apparatus on base plate.
Fig. 4 is the structural representation of driving wheel of the present invention.
Fig. 5 is the cross-sectional view of roller of the present invention.
Fig. 6 is the structural representation of cleaning disc brush of the present invention.
Fig. 7 is the annexation sketch map of brush holder support of the present invention, connecting rod and sleeve pipe.
Fig. 8 is camera of the present invention, searchlight, working station indicator and the buzzer installation position sketch map on spherical shell.
Fig. 9 is the structural representation of self-excited pulse device of the present invention.
Figure 10 is a self-excited oscillation pulse structure of nozzle sketch map of the present invention.
Figure 11 is the A-A view of Figure 10.
Figure 12 is the schematic block circuit diagram of control module of the present invention.
Figure 13 is a user mode sketch map of the present invention.
Description of reference numerals:
1-base plate; 2-1-lower house; 2-2-upper shell;
2-3-spherical shell; 3-driving wheel hydraulic motor; 4-driving wheel;
4-1-wheel carrier; 4-2-roller; 4-21-steel skeleton;
4-22-soft rubber; 4-23-cavity chamber; 5-water fender;
6-Artificial Control module; 6-1-teaching console panel; 6-2-first processor module;
6-3-the one I/O interface; 7-intelligent operation module; 7-1-data storage;
7-2-second processor module; 7-3-the 2nd I/O interface; 8-controller module;
9-cleaning disc brush; 9-1-bar bar; 9-2-brush dish;
9-3-bristle; 9-4-sleeve pipe; 9-5-connecting rod;
9-6-sleeve; 9-61-oil pick-up tube interface; 9-7-second bearing;
9-8-second oil sealing; 9-9-clutch shaft bearing; 9-10-first oil sealing;
10-cleaning disc brush hydraulic motor; 11-SS;
12-pulser hydraulic motor; 13-self-excited oscillation pulse nozzle;
13-1-resonance chamber; 13-2-trilobed wheel; 13-3-water inlet;
The 13-4-delivery port; 14-1-first extensible canopy; 14-2-second extensible canopy;
14-3-the 3rd extensible canopy; 14-4-rotating disk; 15-1-first hydraulically extensible cylinder;
15-2-second hydraulically extensible cylinder; 16-scraping device; 17-pressure sensor;
18-temperature sensor; 19-infrared sensor; 20-ultrasonic sensor;
21-camera; 22-searchlight; 23-gas concentration monitor;
24-working station indicator; 25-buzzer; 26-power pack;
27-inert gas nozzle; 28-handle; 29-manhole cover;
30-through hole; 31-horizontal attitude sensor; 32-turbidity transducer;
33-the three I/O interface; 34-the first fluid motor-driven device;
35-the second fluid motor-driven device; 36-the three fluid motor-driven device; 37-oil pumping pore;
38-the first hydraulic control valve; 39-the second hydraulic control valve; 40-oil tank;
41-oil tank cleaning robot; 42-water tank; 43-inertial gas tank;
44-electric hydraulic pump; 45-water pump; 46-inert gas delivery tube road;
47-inert gas motor-driven valve; 48-oil feed line; 49-water pipe;
50-flexible pipe cable reel; 51-conductive cable; 52-reel motor;
53-screw pump; 54-greasy filth stores the pond.
The specific embodiment
Like Fig. 1, Fig. 2 and shown in Figure 3, the present invention includes body, walking unit, cleaning unit, control module and sensing communication unit, and the power supply unit that is used to said walking unit, cleaning unit, control module and the power supply of sensing communication unit;
Said body comprises base plate 1, be fixedly connected on the lower house 2-1 of base plate 1 top and be fixedly connected on the upper shell 2-2 of lower house 2-1 top;
Said walking unit comprises three driving wheels 4 and is respectively applied for three driving wheel hydraulic motors 3 that drive three driving wheels 4; Three said driving wheels 4 are the embedding of equilateral triangle ground and are installed on the said base plate 1; Three said driving wheel hydraulic motors 3 are laid on the said base plate 1 with being equilateral triangle; Said driving wheel 4 joins with the output shaft of said driving wheel hydraulic motor 3, and the top of said driving wheel 4 is set with and is connected with said base plate 1 and is used to prevent that greasy filth sewage from entering into the water fender 5 in the said lower house 2-1; Water fender 5 can make body airtight, avoids greasy filth sewage to enter into and causes fault in the body;
Said cleaning unit is made up of clearing apparatus and self-excited pulse device; Said clearing apparatus comprises that three cleaning disc brushes 9 drive three cleaning disc brush hydraulic motors 10 that three cleaning disc brushes 9 rotate with being respectively applied for; Three said cleaning disc brushes 9 are laid in said base plate 1 below with being equilateral triangle; Three said cleaning disc brush hydraulic motors 10 are the embedding of equilateral triangle ground and are installed on the said base plate 1, and said cleaning disc brush 9 joins with the output shaft of said cleaning disc brush hydraulic motor 10; Said self-excited pulse device comprises telescopic beam assembly, is connected and is used to drive the pulser hydraulic motor 12 and the self-excited oscillation pulse nozzle 13 that is connected and is used for injection pulse with the telescopic beam assembly other end that telescopic beam assembly rotates with telescopic beam assembly one end, and said pulser hydraulic motor 12 is installed in the lower house 2-1 and with lower house 2-1 and is fixedly connected;
Said control module is made up of Long-distance Control part and body control section; Said Long-distance Control partly comprises Artificial Control module 6 and intelligent operation module 7; Said Artificial Control module 6 comprises teaching console panel 6-1, first processor module 6-2 and an I/O interface 6-3 who joins successively, and said intelligent operation module 7 comprises data storage 7-1, the second processor module 7-2 and the 2nd I/O interface 7-3 that joins successively; Said body control section comprises controller module 8 and the 3rd I/O interface 33 that joins with said controller module 8; The output of said controller module 8 is connected to the first fluid motor-driven device 34 that is used to drive driving wheel hydraulic motor 3, the 3rd fluid motor-driven device 36 that is used to drive the second fluid motor-driven device 35 of cleaning disc brush hydraulic motor 10 and is used for driving pulse device hydraulic motor 12; The output of the said driving wheel hydraulic motor 3 and the first fluid motor-driven device 34 joins; The output of the said cleaning disc brush hydraulic motor 10 and the second fluid motor-driven device 35 joins; The output of said pulser hydraulic motor 12 and the 3rd fluid motor-driven device 36 joins, and a said I/O interface 6-3 and the 2nd I/O interface 7-3 all join with the 3rd I/O interface 33; Artificial Control module 6 and 7 parallel connections of intelligent operation module can make said oil tank cleaning robot 41 be operated under Artificial Control and two kinds of patterns of intelligent operation, so that the more rest of staff gap to be provided, have alleviated working strength, have improved intellectuality; Under the Artificial Control pattern; The staff can send action command to said oil tank cleaning robot 41 through operation teaching console panel 6-1; Under the intelligent operation pattern; The second processor module 7-2 can send next step action command according to oil tank cleaning robot 41 duty at that time of said body control part branch feedback from trend oil tank cleaning robot 41.During practical implementation, the first processor module 6-2 and the second processor module 7-2 can adopt single-chip microcomputer to realize, controller module 8 can adopt programmable logic controller (PLC) to realize.
Said sensing communication unit comprise be used for to said oil tank cleaning robot 41 bump the pressure sensor 17 that detects, the temperature sensor 18 that is used for temperature in the oil tank 40 are detected, be used for the said oil tank cleaning robot 41 of sensing and oil tank 40 inwall degrees of closeness infrared sensor 19, be used for the said oil tank cleaning robot 41 of sensing and oil tank 40 inwalls or obstacle distance ultrasonic sensor 20, be used for the said oil tank cleaning robot of sensing 41 inclination angles horizontal attitude sensor 31, be used to detect turbidity transducer 32, the camera 21 that is used for said oil tank cleaning robot 41 surrounding environment of sensing, the searchlight 22 that is used to throw light on of cleannes at the bottom of 40 jars in the oil tank and be used to detect the gas concentration monitor 23 of gas concentrations in the oil tank 40; Said pressure sensor 17, infrared sensor 19 and ultrasonic sensor 20 are installed on the outer wall of said lower house 2-1; Said horizontal attitude sensor 31 and turbidity transducer 32 are installed in the bottom of said base plate 1; It is inner that said temperature sensor 18 is installed in said upper shell 2-2, and said camera 21, searchlight 22 and gas concentration monitor 23 are installed in the top of said upper shell 2-2; Said pressure sensor 17, temperature sensor 18, infrared sensor 19, ultrasonic sensor 20, horizontal attitude sensor 31, turbidity transducer 32, camera 21 and gas concentration monitor 23 all join with the input of said controller module 8.During practical implementation, said horizontal attitude sensor 31 is installed in the center bottom of said base plate 1.Four said pressure sensors 17 are set.Said driving wheel hydraulic motor 3 and said cleaning disc brush hydraulic motor 10 are intersected laying at interval, mutually noninterfere.Said body control section and temperature sensor 18 are integrated in the control box, and said control box is arranged in the upper shell 2-2.The sensing communication unit can be guaranteed the operate as normal of said oil tank cleaning robot 41 and guarantee the safety of operation process.
In conjunction with Fig. 8; In the present embodiment; The top of said upper shell 2-2 is provided with spherical shell 2-3; Said gas concentration monitor 23 is arranged on the surface of said spherical shell 2-3, and said camera 21 all is arranged in the said spherical shell 2-3 with searchlight 22 and is exposed at outward on the surface of said spherical shell 2-3, also is provided with working station indicator 24 and buzzer 25 in the said spherical shell 2-3; Said working station indicator 24 is exposed on the surface of said spherical shell 2-3 with buzzer 25 is all outer, and said working station indicator 24 and buzzer 25 all join with the output of said controller module 8.
Wherein, spherical shell 2-3 has constituted the head of said oil tank cleaning robot 41, when specifically realizing, searchlight 22 is provided with two and be arranged on the middle and upper part of spherical shell 2-3, similar people's eyes; Working station indicator 24 is arranged on the middle part of spherical shell 2-3, and similar people's nose is selected camera 21 the CCD camera for use and is arranged on the middle and lower part of spherical shell 2-3, similar people's face.
In the present embodiment; Being shaped as of said body outline is cylindrical; The top of said upper shell 2-2 is symmetrically installed with two handles 28; The top of said upper shell 2-2 is provided with the power pack 26 that is used to install said power supply unit, has manhole on the sidewall of said upper shell 2-2, and said manhole place is equipped with manhole cover 29; The upper shell 2-2 that is positioned at said manhole oblique upper is provided with through hole 30, and the top of said upper shell 2-2 is symmetrically installed with two inert gas nozzle 27 that are used in oil tank 40, replenishing the protectiveness inert gas.
In conjunction with Fig. 4 and Fig. 5; In the present embodiment; Said driving wheel 4 is made up of wheel carrier 4-1 and the two circle roller 4-2 that are arranged side by side on said wheel carrier 4-1; Said roller 4-2 is made up of the steel skeleton 4-21 soft rubber 4-22 outer with being wrapped in said steel skeleton 4-21, is laid with a plurality of cavitys chamber 4-23 on the said soft rubber 4-22.Said roller 4-2 adopts the composite construction of steel skeleton 4-21 and soft rubber 4-22; Utilized bionics principle; When said oil tank cleaning robot 41 was walked, under the effect of gravity, soft rubber 4-22 deformed; Gas among a plurality of cavitys chamber 4-23 is discharged and is formed negative-pressure adsorption power; Make said oil tank cleaning robot 41 be adsorbed on oil tank 40 bottoms, this kind novel designs both can avoid at the bottom of 40 jars in the oil tank of driving wheel 4 and steel direct friction to produce spark influence job safety, can make said oil tank cleaning robot 41 when work, keep stable preferably again.
In conjunction with Fig. 6 and Fig. 7, in the present embodiment, brush holder support, brush dish 9-2 that is connected the brush holder support bottom that said cleaning disc brush 9 is joined by the output shaft with said cleaning disc brush hydraulic motor 10 and many bunches of bristle 9-3 that are arranged on the brush dish 9-2 lower surface constitute.Many bunches of said bristle 9-3 polygonal in the shape of a spiral star on said brush dish 9-2 lower surface distributes; The center of the length of said bristle 9-3 from the periphery of said brush dish 9-2 to said brush dish 9-2 reduces gradually, and said bristle 9-3 is made up of Bowden cable and the polyethylene layer that is wrapped in said Bowden cable surface.The center of said brush dish 9-2 is one-body molded to have the sleeve pipe 9-4 that upwards stretches out; The center of said bristle 9-3 be provided with match with said sleeve pipe 9-4 and oil supply tank 40 in the SS 11 that passes through of greasy filth and sewage; Said brush holder support comprises the bar bar 9-1 that joins with the output shaft of said cleaning disc brush hydraulic motor 10 and is arranged on said bar 9-1 bottom and is used for fixing the connecting rod 9-5 that is connected said sleeve pipe 9-4; Be set with the sleeve 9-6 that the top is fixedly connected with said base plate 1 on said the bar 9-1; The sidewall of said sleeve 9-6 is provided with the oil pick-up tube interface 9-61 that is used to connect oil pick-up tube; The top of said sleeve 9-6 is equipped with the clutch shaft bearing 9-9 that is used to install said bar 9-1; The sleeve 9-6 that is positioned at said clutch shaft bearing 9-9 below is equipped with the first oil sealing 9-10; The bottom of said sleeve 9-6 is equipped with the second bearing 9-7 that is used to install said sleeve pipe 9-4, and the sleeve 9-6 that is positioned at said second bearing 9-7 top is equipped with the second oil sealing 9-8, and said base plate 1 is provided with the oil pumping pore 37 that supplies oil pick-up tube to pass.During practical implementation, the quantity of connecting rod 9-5 is three and is evenly distributed in said bar 9-1 bottom.When cleaning disc brush hydraulic motor 10 drives said bar 9-1 rotation; Said bar 9-1 drives brush dish 9-2 and bristle 9-3 rotation through connecting rod 9-5; And sleeve 9-6 maintenance is motionless; The special spiral pattern layout of bristle 9-3 cooperates rotation can form the negative pressure eddy current towards the center, and being cleaned loose greasy filth and the sewage of dish brush 9 cleanings can be arranged in the SS 11 of bristle 9-3 center position by automatic stream under the effect of negative pressure eddy current, and enters into sleeve pipe 9-4 through SS 11; Greasy filth and the sewage that enters into sleeve pipe 9-4 pass three between the connecting rod 9-5 the slit and enter in the sleeve 9-6; Through on oil pick-up tube interface 9-61, connecting oil pick-up tube, can easily greasy filth and sewage be extracted out, be convenient to the collection of greasy filth and sewage.Said bristle 9-3 is made up of Bowden cable and the polyethylene layer that is wrapped in said Bowden cable surface, has intensity and cleaning performance preferably.
In conjunction with Figure 10 and Figure 11; In the present embodiment; Said self-excited oscillation pulse nozzle 13 comprises resonance chamber 13-1 and to be arranged on resonance chamber 13-1 inner and be used for resonance chamber 13-1 inner space is divided into the trilobed wheel 13-2 of three resonators; The top center position of said resonance chamber 13-1 is provided with and is used for the water inlet 13-3 of current branch to three resonators, and the bottom of said resonance chamber 13-1 is provided with three delivery port 13-4 that match with three said resonance chamber 13-1 respectively.The top of said self-excited oscillation pulse nozzle 13 is equipped with the scraping device 16 that is connected and is used for the greasy filth of oil tank 40 inwalls and bottom is carried out spatula with said telescopic beam assembly.After current get into from water inlet 13-3; Get into three resonance chamber 13-1 respectively and form the face of charging and attacking by three delivery port 13-4; Greasy filth in the oil tank 40 is charged and attacked, loosens and cleans, make the present invention need not add any chemical agent, use running water can realize cleaning; Prevent to pollute, and be beneficial to the recovery and the subsequent treatment of greasy filth.During practical implementation, the material of scraping device 16 is the plastics of high strength and hardness, prevents in the process of work, to produce spark with oil tank 40 sidewalls or bottom friction.
In conjunction with Fig. 9; In the present embodiment; Said telescopic beam assembly comprise the first extensible canopy 14-1, with hinged second extensible canopy 14-2 of the said first extensible canopy 14-1 and the three extensible canopy 14-3 hinged with the said second extensible canopy 14-2; The bottom of the said first extensible canopy 14-1 is fixedly connected with rotating disk 14-4; Said rotating disk 14-4 is connected on the output shaft of said pulser hydraulic motor 12; Be connected with the first hydraulically extensible cylinder 15-1 between said second extensible canopy 14-2 and the said pulser hydraulic motor 12, be connected with the second hydraulically extensible cylinder 15-2 between said second extensible canopy 14-2 and said the 3rd extensible canopy 14-3, said self-excited oscillation pulse nozzle 13 is fixedly connected with the end of said the 3rd extensible canopy 14-3; The output of said controller module 8 is connected to and is used to control the first flexible hydraulic control valve 38 of the first hydraulically extensible cylinder 15-1 and is used to control the second flexible hydraulic control valve 39 of the second hydraulically extensible cylinder 15-2; Said first hydraulic control valve 38 is connected on the oil feed line of the first hydraulically extensible cylinder 15-1, and said second hydraulic control valve 39 is connected on the oil feed line of the second hydraulically extensible cylinder 15-2.During practical implementation, the said second extensible canopy 14-2 is hinged through cylindrical hinge and the said first extensible canopy 14-1, and said the 3rd extensible canopy 14-3 is hinged through cylindrical hinge and the said second extensible canopy 14-2.Said pulser hydraulic motor 12 acts on the bottom of self-excited pulse device; Drive the unitary rotation of self-excited pulse device; That has realized self-excited oscillation pulse nozzle 13 axially looks about injection, and the said first hydraulically extensible cylinder 15-1 and the second hydraulically extensible cylinder 15-2 are used to adjust the angle and distance of self-excited oscillation pulse nozzle 13 injection pulses.The pitching anglec of rotation during work of self-excited pulse device is 120 °, and horizontally rotating angle is 120 °, can form bigger work area coverage.When running into harder greasy filth, the spatula that utilizes scraping device 16 to implement can be changed to oil tank 40 sidewalls and bottom greasy filth through the angle of pitch of control telescopic beam assembly and the angle of feathering angle.
When using the present invention that oil tank 40 interior greasy filth are cleaned; At first; Being ready to said oil tank cleaning robot 41 needs external electric hydraulic pump 44, water tank 42, inertial gas tank 43, screw pump 53 and greasy filth to store pond 54; On water tank 42, connect and be used to the water pump 45 that oil tank cleaning robot 41 provides washing water flow; On inertial gas tank 43, connect inert gas delivery tube road 46, and on inert gas delivery tube road 46, connect the inert gas motor-driven valve 47 that is used for regulating inert gas delivery tube road 46 inert gas flows, on screw pump 53, connect and extend into greasy filth and store the oil pick-up tube in the pond 54; And on screw pump 53, connect the oil pick-up tube that extend into oil tank 40 bottoms, and be connected to screw pump 53 on the oil pick-up tube interface 9-61 of three cleaning disc brushes 9 through the oil pick-up tube of passing oil pumping pore 37 and through hole 30; Then; Three driving wheel hydraulic motors 3, three cleaning disc brush hydraulic motors 10, pulser hydraulic motor 12, the first hydraulically extensible cylinder 15-1 are connected with electric hydraulic pump 44 through the oil feed line 48 that passes through hole 30 with the second hydraulically extensible cylinder 15-2; Water inlet 13-3 on the self-excited oscillation pulse nozzle is connected with water pump 45 through the water pipe 49 that passes through hole 30; Inert gas delivery tube road 46 is passed through hole and is connected on the inert gas nozzle 27; Wherein, connect on the oil feed line 48 of the first hydraulically extensible cylinder 15-1 and be connected with first hydraulic control valve 38, connect on the oil feed line 48 of the second hydraulically extensible cylinder and be connected with second hydraulic control valve 39; Then; Electric hydraulic pump 44, water pump 45, screw pump 53, inert gas motor-driven valve 47, first hydraulic control valve 38, second hydraulic control valve 39 are connected on another controller that joins with said controller module 8 and communicate by letter of peripheral hardware, perhaps are directly connected on the said controller module 8; At last; Said oil tank cleaning robot 41 is put into oil tank 40; Instruct to said oil tank cleaning robot 41 transmit operations through operator's industry control control module 6 or intelligent operation module 7; Make said oil tank cleaning robot 41 mobile working in oil tank 40, said oil tank cleaning robot 41 is found out the greasy filth in the oil tank 40 through camera 21 and illuminating lamp 22, through the self-excited pulse device greasy filth at a position is carried out at first that pulsing jet charges and attacks or spatula; Treat that greasy filth carries out profound scrubbing with clearing apparatus after loose; After a position cleaned up, washing and cleaning operation was carried out at the position that Artificial Control oil tank cleaning robot 41 or oil tank cleaning robot 41 intelligence move to the next one to be needed to clean, and the greasy and sewage of cleaning can be extracted out through oil pick-up tube and screw pump 53 at any time; So, just, can accomplish cleaning easily to greasy filth in the whole oil tank 40.
Said oil tank cleaning robot 41 is in the process of carrying out cleaning; Said pressure sensor 17 can detect the situation that said oil tank cleaning robot 41 bumps; Temperature detects in real time in 18 pairs of oil tanks of said temperature sensor 40; The degree of closeness of can the sensing said oil tank cleaning robot 41 of said infrared sensor 19 and oil tank 40 inwalls; The distance of can the sensing said oil tank cleaning robot 41 of said ultrasonic sensor 20 and oil tank 40 inwalls or barrier; Said horizontal attitude sensor 31 can the said oil tank cleaning robot 41 of sensing the inclination angle; Prevent and topple over and turn on one's side; Turbidity transducer 32 is used to detect cleannes at the bottom of 40 jars in the oil tank; Avoid the repetition in 41 pairs of zones of said oil tank cleaning robot to clean for a long time, camera 21 can be used as the said oil tank cleaning robot 41 of the vision sensing environment on every side of said oil tank cleaning robot 41, and searchlight 22 provides illumination under the environment of dark or insufficient light; Gas concentration monitor 23 detects gas concentration in the oil tank 40 in real time, and said controller module 8 is controlled the washing and cleaning operation of said oil tank cleaning robot 41 after gathering pressure sensor 17, temperature sensor 18, infrared sensor 19, ultrasonic sensor 20, horizontal attitude sensor 31, turbidity transducer 32, camera 21 and gas concentration monitor 23 detected signals and carrying out analyzing and processing.Particularly; Can realize that through the type of drive of coordinating three driving wheel hydraulic motors 3 omnidirectional of said oil tank cleaning robot 41 moves; Said oil tank cleaning robot 41 work are moved flexibly; When controlling the synchronization of wherein any two driving wheels 4; Said oil tank cleaning robot 41 will move along the axis direction straight line moving of another one driving wheel 4, when three driving wheels of control 4 clockwise or when rotating counterclockwise, can be realized the original place rotation of said oil tank cleaning robot 41 along its geometric center with speed simultaneously; Through controlling three cleaning disc brush hydraulic motors 10, can regulate the rotating speed of cleaning disc brush 9 and the size of moment according to the characteristics of operation needs and greasy filth; Rotation through control impuls device hydraulic motor 12; Can change the job position and the direction of self-excited oscillation pulse nozzle 13; Said controller module 8 can also be according to the gas concentration in the gas concentration monitor 23 detected oil tanks 40, the aperture of regulating inert gas motor-driven valve 47, the feeding of control inert gas; When the safety coefficient in gas concentration monitor 23 detects oil tank 40 does not meet the demands; Strengthen the feeding amount of inert gas, replenish the protectiveness inert gas in time, guarantee accurate, the stable and safety that said oil tank cleaning robot 41 works long hours through inert gas nozzle 27.
For when said oil tank cleaning robot 41 mobile workings; Can be arranged in good order in oil feed line 48, water pipe 49 and inert gas delivery tube road 46; A flexible pipe cable reel 50 can be set; And one of connection is used to drive the reel motor 52 that flexible pipe cable reel 50 rotates on flexible pipe cable reel 50; Be wound into the position of flexible pipe cable reel 50 at needs; Oil feed line 48, water pipe 49, inert gas delivery tube road 46 and oil pick-up tube are put together and are contained in the extra heavy pipe, be wrapped on the flexible pipe cable reel 50 and pass through hole and be connected, be connected to reel motor 52 on another controller that joins with said controller module 8 and communicate by letter of peripheral hardware through conductive cable 51 with each parts in the said oil tank cleaning robot 41; Perhaps directly be connected on the said controller module 8 through conductive cable 51; Control reel motor 52 according to actual needs and drive 50 rotations of flexible pipe cable reel, the length of adjustment oil feed line 48, water pipe 49, inert gas delivery tube road 46 and conductive cable 51 is in order to avoid influence moving and work of said oil tank cleaning robot 41.
The above; It only is preferred embodiment of the present invention; Be not that the present invention is done any restriction, every technical spirit changes any simple modification, change and the equivalent structure that above embodiment did according to the present invention, all still belongs in the protection domain of technical scheme of the present invention.
Claims (10)
1. an oil tank cleaning robot is characterized in that: comprise body, walking unit, cleaning unit, control module and sensing communication unit, and be used to the power supply unit that said walking unit, cleaning unit, control module and sensing communication unit are supplied power;
Lower house (2-1) that said body comprises base plate (1), be fixedly connected on base plate (1) top and the upper shell (2-2) that is fixedly connected on above the lower house (2-1);
Said walking unit comprises three driving wheels (4) and is respectively applied for three the driving wheel hydraulic motors (3) that drive three driving wheels (4); Three said driving wheels (4) are the embedding of equilateral triangle ground and are installed on the said base plate (1); Three said driving wheel hydraulic motors (3) are laid on the said base plate (1) with being equilateral triangle; The output shaft of said driving wheel (4) and said driving wheel hydraulic motor (3) joins, and the top of said driving wheel (4) is set with and is connected with said base plate (1) and is used to prevent that greasy filth sewage from entering into the water fender (5) in the said lower house (2-1);
Said cleaning unit is made up of clearing apparatus and self-excited pulse device; Said clearing apparatus comprises three cleaning disc brushes (9) and is respectively applied for three cleaning discs brush hydraulic motors (10) that drive three cleaning disc brushes (9) rotation; Three said cleaning disc brushes (9) are laid in said base plate (1) below with being equilateral triangle; Three said cleaning disc brush hydraulic motors (10) are the embedding of equilateral triangle ground and are installed on the said base plate (1), and said cleaning disc brush (9) joins with the output shaft of said cleaning disc brush hydraulic motor (10); Said self-excited pulse device comprises telescopic beam assembly, is connected and is used to drive the pulser hydraulic motor (12) and the self-excited oscillation pulse nozzle (13) that is connected and is used for injection pulse with the telescopic beam assembly other end that telescopic beam assembly rotates with telescopic beam assembly one end, and said pulser hydraulic motor (12) is installed in the lower house (2-1) and with lower house (2-1) and is fixedly connected;
Said control module is made up of Long-distance Control part and body control section; Said Long-distance Control partly comprises Artificial Control module (6) and intelligent operation module (7); Said Artificial Control module (6) comprises teaching console panel (6-1), first processor module (6-2) and an I/O interface (6-3) that joins successively, and said intelligent operation module (7) comprises data storage (7-1), second processor module (7-2) and the 2nd I/O interface (7-3) that joins successively; Said body control section comprises controller module (8) and the 3rd I/O interface (33) that joins with said controller module (8); The output of said controller module (8) is connected to the first fluid motor-driven device (34) that is used to drive driving wheel hydraulic motor (3), the 3rd fluid motor-driven device (36) that is used to drive the second fluid motor-driven device (35) of cleaning disc brush hydraulic motor (10) and is used for driving pulse device hydraulic motor (12); Said driving wheel hydraulic motor (3) joins with the output of the first fluid motor-driven device (34); Said cleaning disc brush hydraulic motor (10) joins with the output of the second fluid motor-driven device (35); Said pulser hydraulic motor (12) joins with the output of the 3rd fluid motor-driven device (36), and a said I/O interface (6-3) and the 2nd I/O interface (7-3) all join with the 3rd I/O interface (33);
Said sensing communication unit comprise be used for to said oil tank cleaning robot (41) bump the pressure sensor (17) that detects, the temperature sensor (18) that is used for the interior temperature of oil tank (40) is detected, be used for the said oil tank cleaning robot of sensing (41) and oil tank (40) inwall degree of closeness infrared sensor (19), be used for the said oil tank cleaning robot of sensing (41) and oil tank (40) inwall or obstacle distance ultrasonic sensor (20), be used for the horizontal attitude sensor (31) at the said oil tank cleaning robot of sensing (41) inclination angle, the gas concentration monitor (23) that is used to detect turbidity transducer (32), the camera (21) that is used for the said oil tank cleaning robot of sensing (41) surrounding environment, the searchlight (22) that is used to throw light on of oil tank (40) jar end cleannes and is used to detect the interior gas concentration of oil tank (40); Said pressure sensor (17), infrared sensor (19) and ultrasonic sensor (20) are installed on the outer wall of said lower house (2-1); Said horizontal attitude sensor (31) and turbidity transducer (32) are installed in the bottom of said base plate (1); Said temperature sensor (18) is installed in said upper shell (2-2) inside, and said camera (21), searchlight (22) and gas concentration monitor (23) are installed in the top of said upper shell (2-2); Said pressure sensor (17), temperature sensor (18), infrared sensor (19), ultrasonic sensor (20), horizontal attitude sensor (31), turbidity transducer (32), camera (21) and gas concentration monitor (23) all join with the input of said controller module (8).
2. according to the described a kind of oil tank cleaning robot of claim 1; It is characterized in that: the top of said upper shell (2-2) is provided with spherical shell (2-3); Said gas concentration monitor (23) is arranged on the surface of said spherical shell (2-3); Said camera (21) and searchlight (22) all are arranged in the said spherical shell (2-3) and are exposed at outward on the surface of said spherical shell (2-3); Also be provided with working station indicator (24) and buzzer (25) in the said spherical shell (2-3); Said working station indicator (24) and buzzer (25) are all outer to be exposed on the surface of said spherical shell (2-3), and said working station indicator (24) and buzzer (25) all join with the output of said controller module (8).
3. according to the described a kind of oil tank cleaning robot of claim 1; It is characterized in that: being shaped as of said body outline is cylindrical; The top of said upper shell (2-2) is symmetrically installed with two handles (28); The top of said upper shell (2-2) is provided with the power pack (26) that is used to install said power supply unit; Have manhole on the sidewall of said upper shell (2-2); Said manhole place is equipped with manhole cover (29), and the upper shell (2-2) that is positioned at said manhole oblique upper is provided with through hole (30), and the top of said upper shell (2-2) is symmetrically installed with two inert gas nozzle (27) that are used in oil tank (40), replenishing the protectiveness inert gas.
4. according to the described a kind of oil tank cleaning robot of claim 1; It is characterized in that: said driving wheel (4) is by wheel carrier (4-1) and be arranged side by side two circle rollers (4-2) formations on said wheel carrier (4-1); Said roller (4-2) is by steel skeleton (4-21) and be wrapped in outer soft rubber (4-22) formation of said steel skeleton (4-21), is laid with a plurality of cavitys chamber (4-23) on the said soft rubber (4-22).
5. according to the described a kind of oil tank cleaning robot of claim 1, it is characterized in that: said cleaning disc brush (9) is by the output shaft with said cleaning disc brush hydraulic motor (10) brush holder support, the brush dish (9-2) that is connected the brush holder support bottom that join and many bunches of bristles (9-3) formation that is arranged on brush dish (9-2) lower surface.
6. according to the described a kind of oil tank cleaning robot of claim 5; It is characterized in that: many bunches of said bristles (9-3) polygonal in the shape of a spiral star on said brush dish (9-2) lower surface distributes; The center of the length of said bristle (9-3) from the periphery of said brush dish (9-2) to said brush dish (9-2) reduces gradually, and said bristle (9-3) is made up of Bowden cable and the polyethylene layer that is wrapped in said Bowden cable surface.
7. according to claim 5 or 6 described a kind of oil tank cleaning robots; It is characterized in that: the center of said brush dish (9-2) is one-body molded to have the sleeve pipe (9-4) that upwards stretches out; The center of said bristle (9-3) be provided with match with said sleeve pipe (9-4) and oil supply tank (40) in the SS (11) that passes through of greasy filth and sewage; Said brush holder support comprises the bar bar (9-1) that joins with the output shaft of said cleaning disc brush hydraulic motor (10) and is arranged on said bar (9-1) bottom and is used for fixing the connecting rod (9-5) that is connected said sleeve pipe (9-4); Be set with the sleeve (9-6) that the top is fixedly connected with said base plate (1) on said the bar (9-1); The sidewall of said sleeve (9-6) is provided with the oil pick-up tube interface (9-61) that is used to connect oil pick-up tube; The top of said sleeve (9-6) is equipped with the clutch shaft bearing (9-9) that is used to install said bar (9-1); The sleeve (9-6) that is positioned at said clutch shaft bearing (9-9) below is equipped with first oil sealing (9-10); The bottom of said sleeve (9-6) is equipped with second bearing (9-7) that is used to install said sleeve pipe (9-4), and the sleeve (9-6) that is positioned at said second bearing (9-7) top is equipped with second oil sealing (9-8), and said base plate (1) is provided with the oil pumping pore (37) that supplies oil pick-up tube to pass.
8. according to the described a kind of oil tank cleaning robot of claim 1; It is characterized in that: said self-excited oscillation pulse nozzle (13) comprises resonance chamber (13-1) and is arranged on resonance chamber (13-1) inner and be used for resonance chamber (13-1) inner space is divided into the trilobed wheel (13-2) of three resonators; The top center position of said resonance chamber (13-1) is provided with and is used for the water inlet (13-3) of current branch to three resonators, and the bottom of said resonance chamber (13-1) is provided with three delivery ports (13-4) that match with three said resonance chamber (13-1) respectively.
9. according to the described a kind of oil tank cleaning robot of claim 1, it is characterized in that: the top of said self-excited oscillation pulse nozzle (13) is equipped with the scraping device (16) that is connected and is used for the greasy filth of oil tank (40) inwall and bottom is carried out spatula with said telescopic beam assembly.
10. according to claim 1 or 9 described a kind of oil tank cleaning robots; It is characterized in that: said telescopic beam assembly comprise first extensible canopy (14-1), with hinged second extensible canopy (14-2) of said first extensible canopy (14-1) and three extensible canopy (14-3) hinged with said second extensible canopy (14-2); The bottom of said first extensible canopy (14-1) is fixedly connected with rotating disk (14-4); Said rotating disk (14-4) is connected on the output shaft of said pulser hydraulic motor (12); Be connected with the first hydraulically extensible cylinder (15-1) between said second extensible canopy (14-2) and the said pulser hydraulic motor (12); Be connected with the second hydraulically extensible cylinder (15-2) between said second extensible canopy (14-2) and said the 3rd extensible canopy (14-3), said self-excited oscillation pulse nozzle (13) is fixedly connected with the end of said the 3rd extensible canopy (14-3); The output of said controller module (8) is connected to and is used to control flexible first hydraulic control valve (38) of the first hydraulically extensible cylinder (15-1) and is used to control flexible second hydraulic control valve (39) of the second hydraulically extensible cylinder (15-2); Said first hydraulic control valve (38) is connected on the oil feed line of the first hydraulically extensible cylinder (15-1), and said second hydraulic control valve (39) is connected on the oil feed line of the second hydraulically extensible cylinder (15-2).
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| CN201210284715.5A CN102764750B (en) | 2012-08-12 | 2012-08-12 | Oil tank cleaning robot |
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| CN201210284715.5A CN102764750B (en) | 2012-08-12 | 2012-08-12 | Oil tank cleaning robot |
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