CN102764750A - Oil tank cleaning robot - Google Patents

Oil tank cleaning robot Download PDF

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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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cleaning
tank
hydraulic motor
brush
robot
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CN2012102847155A
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Chinese (zh)
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CN102764750B (en
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周利坤
战仁军
李悦
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周利坤
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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

一种油罐清洗机器人 One kind of tank cleaning robot

技术领域 FIELD

[0001] 本发明涉及油罐清洗技术领域,尤其是涉及一种油罐清洗机器人。 [0001] The present invention relates to a tank cleaning technology, and in particular, to a tank cleaning robot.

背景技术 Background technique

[0002]目前,在我国石油化工行业中,对于例如储油罐和运油车等原油存储设备,由于油品质量难以保证,平均每年产生80万吨罐底泥、池底泥。 [0002] At present, China's petrochemical industry, for example, crude oil storage tanks and tanker trucks, due to the oil quality is difficult to guarantee, an average of 800,000 tons per year of sediment tank, the bottom mud. 油泥的产生和积累不仅影响油品质量,更是影响储油设备的使用。 Generation and accumulation of sludge not only affect the quality of oil, but also affect the use of oil equipment. 由于高浓度的油气容易因明火或暗火而爆炸,因此对油罐底泥的清洗是一项危险而繁重的工作。 Due to the high concentration of oil and gas flame or dark vulnerable to fire and explosion, so the cleaning of the tank sediment is a dangerous and heavy work. 过去通常是人工作业,劳动强度大、工作效率低,且容易引发事故。 Used to be manual work, labor-intensive, low efficiency, and easily lead to accidents. 随着我国大型石油油罐的建设、能源的紧张和对环保问题的日益高度重视,传统的人工清洗油罐法已不符合环境和发展的客观要求,必须研发和使用封闭式、无需人进入油罐的全自动机械化的清洗设备,代替人工清洗,以提高原油回收率和清洗效率,提高油罐清洁度,减少污油、污水和废气对环境的污染,同时减少作业事故,实现安全、健康、环保式清洗。 With the construction of China's large oil tanks, energy, tension and growing attention to environmental issues, the traditional manual method of cleaning the tank does not meet the objective requirements of environment and development, the development and use must be closed without people into the oil automatic mechanized tank cleaning equipment, instead of manual cleaning, in order to enhance oil recovery and cleaning efficiency, improve tank cleanliness, reduce waste oil, sewage and waste environmental pollution, while reducing the work accidents, to achieve security, health, environmental cleaning.

[0003] 油罐清洗机器人是机械化清灌的重要而有效的工具,机器人在罐内可以自动移动,打散、清扫或吸出沉积物,在国外如英国NESL公司的Moverjet Vehicle,英国SurfaceControl公司开发的用于清洗储罐的真空槽车,拉格比Hydrovac工业和石油服务有限公司开发的水力推土机罐内作业工具,美国Petroleum Ferment公司开发的用于流化和喷击底泥的完全水利车等。 [0003] Mechanized cleaning tank cleaning robot is an important and effective irrigation tools, robots can automatically move in the tank, broken, clean or aspirated deposits in foreign countries such as the UK's NESL Moverjet Vehicle, developed by the British SurfaceControl for cleaning the tank vacuum tankers, Rugby Hydrovac industrial and oil services Limited to develop hydraulic tank bulldozers working tool, developed by the American petroleum Ferment stream sediment and blasting completely water conservancy vehicles used.

[0004] 近些年,国内在罐体的清洗、检查机器人领域也做了大量的研究,并且取得了一定的突破。 [0004] In recent years, China has done a lot of research in the cleaning tank, check the field of robotics, and has made some breakthroughs. 上海交通大学开发出一种专门用于检测金属油罐容积的机器人,目前已被上海炼油厂用于替代传统的人工检测。 Shanghai Jiaotong University has developed a special robot used to detect metal tank volume, Shanghai refinery has now been used to replace the traditional manual inspection. 除此之外,它还有望应用于储油罐、煤气罐、化学压力容器等危险环境,进行探伤、除锈、喷漆及清洗等工作,将它用于储油罐清罐作业指日可待。 In addition, it is expected to apply to storage tanks, gas cylinders, pressure vessels and other dangerous chemical environment, conduct testing, rust, painting and cleaning work, it will be just around the corner for tanks tank cleaning operations. 哈尔滨工业大学研制出一种核工业用壁面爬行遥控检查机器人,主要用于检查放射性核废液储放罐焊缝,以及时发现因核废液腐蚀原因造成的泄漏隐患并进行清除,确保环境的安全,其关键技术对清罐机器人的研究有很大的促进作用。 Harbin Institute of Technology developed a remote inspection robot crawling the nuclear industry with the wall, mainly used to check radioactive nuclear waste store tank welds, and found that for reasons of corrosion caused by leakage of nuclear waste and remove hidden dangers, to ensure that the environment safety, its key technology research for tank cleaning robot has a great role in promoting. 天津工程师范学院和胜利油田正在合作开发用于储油罐清理的机器人,其关键技术已获得突破。 Tianjin Engineering Normal College and Shengli Oilfield is to develop a robot for cleaning up storage tanks, the key technology has been a breakthrough. 当前,清洗机器人的应用基本集中在壁面清洗、管道清洗、缆索清洗和水下维护、清洗等方面。 Currently, the application of the cleaning robot is concentrated in the wall surface cleaning, pipeline cleaning, and cleaning the underwater cable maintenance, cleaning and other aspects. 作为清洗机器人中一个典型代表,清罐清洗机器人的应用尚不广泛,但是它的应用前景很宽。 As a typical representative of the cleaning robot, clear tank cleaning robot application is not yet widespread, but it is very broad application prospects. 目前,国内的大型储油罐清洗工作已经逐渐向机械化清洗过渡,例如,大庆油田已经从2003年开始更换机械化清洗设备。 At present, the domestic large-scale oil storage tank cleaning work has been a gradual transition to mechanized cleaning, for example, the Daqing oil field has been since 2003, to replace the mechanized cleaning equipment. 此外,中海油、中石油、中石化的大部分下属公司都已经着手更新机械化清罐设备。 In addition, CNOOC, CNPC, Sinopec's subsidiary companies have started most updated mechanized tank cleaning equipment.

[0005] 国内外对于清洗机器人自动化、智能化方面的研究和应用越发深入和广泛,但是,现有技术中的各种清洗机器人还不能很好地对油罐内的油泥进行彻底清洗,且存在着实现成本高、使用操作不便、安全性能不够好等缺陷和不足。 [0005] at home and abroad for cleaning robotic automation, research and application of intelligent aspects of the more in-depth and extensive, however, the art of various cleaning robot does not adequately sludge in the tank to be thoroughly cleaned, and there the high cost, inconvenient to use, safe performance is not good enough defects and deficiencies.

发明内容 SUMMARY

[0006] 本发明所要解决的技术问题在于针对上述现有技术中的不足,提供一种油罐清洗机器人,其设计新颖合理,智能化程度高,工作可靠性高,安全性能好,能够实现对油罐的全方位清洗,节能环保,实用性强,推广应用价值高。 [0006] The present invention solves the technical problem is that the response to these deficiencies in the prior art, to provide a tank cleaning robot, its novel design reasonable, high intelligence, high reliability, security, performance, can achieve tank full range of clean, energy-saving and environmental protection, practical and high application value.

[0007] 为解决上述技术问题,本发明采用的技术方案是:一种油罐清洗机器人,其特征在于:包括机体、行走单元、清洗单元、控制单元和传感通讯单元,以及用于为所述行走单元、清洗单元、控制单元和传感通讯单元供电的供电单元; [0007] To solve the above problems, the present invention adopts the technical solution is: A tank cleaning robot comprising: a body, traveling unit, washing unit, the communication control unit and the sensing unit, as well as for the said traveling unit, washing unit, the control unit and the sensing of the power supply unit from the communication unit;

[0008] 所述机体包括底板、固定连接在底板上方的下壳体和固定连接在下壳体上方的上壳体; [0008] The body comprises a base plate fixedly connected at the upper housing and the housing bottom plate is fixedly connected above the lower housing;

[0009] 所述行走单元包括三个驱动轮和分别用于驱动三个驱动轮的三个驱动轮液压马达,三个所述驱动轮呈等边三角形地嵌入安装在所述底板上,三个所述驱动轮液压马达呈等边三角形地布设在所述底板上,所述驱动轮与所述驱动轮液压马达的输出轴相接,所述驱动轮的上方套装有与所述底板连接且用于防止油泥污水进入到所述下壳体内的挡水板; [0009] The traveling unit comprises three drive wheels, respectively, and three wheels for driving the hydraulic motor of three wheels, the drive wheels three equilateral triangle embedded mounted on the base plate, three the drive wheel hydraulic motor equilateral triangularly arranged on the said base plate, said drive wheel in contact with the output shaft of the hydraulic motor of the drive wheel, the drive wheel is set above the base plate and connecting with sewage sludge to prevent the flap into the lower inner housing;

[0010] 所述清洗单元由清扫装置和自激脉冲装置构成,所述清扫装置包括三个清洗盘刷和分别用于带动三个清洗盘刷转动的三个清洗盘刷液压马达,三个所述清洗盘刷呈等边三角形地布设在所述底板下方,三个所述清洗盘刷液压马达呈等边三角形地嵌入安装在所述底板上,所述清洗盘刷与所述清洗盘刷液压马达的输出轴相接;所述自激脉冲装置包括伸缩梁组件、与伸缩梁组件一端连接且用于带动伸缩梁组件转动的脉冲装置液压马达和与伸缩梁组件另一端连接且用于喷射脉冲的自激振荡脉冲喷嘴,所述脉冲装置液压马达安装在下壳体内且与下壳体固定连接; [0010] The cleaning unit and the cleaning device constitute a self-excited pulse means, the cleaning means comprises a cleaning disc three brushes and three are used for driving the rotation of the disc brush cleaning disc brush washing three hydraulic motors, the three said cleaning disc brush equilateral triangularly laid below the bottom plate, said three disc brush cleaning hydraulic motor equilateral triangle embedded mounted on the base plate, the washing with the washing brush disc hydraulic disc brush the output shaft of the motor contact; the self-excited pulse beam assembly comprises a telescopic device, one end of the telescopic beam assembly connected to and driven by a pulse means for the hydraulic motor and a telescoping beam assembly rotatably connected to the other end of a telescoping beam assembly and ejection pulse nozzle self-oscillation pulse, the pulse hydraulic motor mounted on the lower housing and fixedly connected to the lower inner housing;

[0011] 所述控制单元由远程控制部分和机体控制部分构成,所述远程控制部分包括人工控制模块和智能作业模块,所述人工控制模块包括依次相接的示教操纵板、第一处理器模块和第一I/o接口,所述智能作业模块包括依次相接的数据存储器、第二处理器模块和第二I/o接口;所述机体控制部分包括控制器模块和与所述控制器模块相接的第三I/O接口,所述控制器模块的输出端接有用于驱动驱动轮液压马达的第一液压马达驱动器、用于驱动清洗盘刷液压马达的第二液压马达驱动器和用于驱动脉冲装置液压马达的第三液压马达驱动器,所述驱动轮液压马达与第一液压马达驱动器的输出端相接,所述清洗盘刷液压马达与第二液压马达驱动器的输出端相接,所述脉冲装置液压马达与第三液压马达驱动器的输出端相接,所述第一I/o接口和第二I/O接口均与第三I/O接口 [0011] The control portion constituted by a remote control unit and the body control portion, said control portion includes a remote control module and artificial intelligent module operation, the manual control comprises a teaching module sequentially actuating contact plate, the first processor a first module and I / o interfaces, the smart module comprises sequentially contacting job data memory, the second processor module and a second I / o interfaces; the body portion includes a control module and a controller with said controller a third contact module I / O interface, the controller output termination module for driving the first hydraulic motor drives the drive wheel hydraulic motor for driving the cleaning brush plate hydraulic motor and the second hydraulic motor drive with a third hydraulic motor driving means drive pulse hydraulic motor, the hydraulic motor of the first drive wheel hydraulic motor in contact with an output terminal, the output terminal of the disc brush cleaning hydraulic motor and the second hydraulic motor drive phase, the pulse output of the third hydraulic motor and a hydraulic motor drive phase, the first I / o interface and a second I / O interfaces of the third I / O interfaces 相接; Phase;

[0012] 所述传感通讯单元包括用于对所述油罐清洗机器人发生碰撞进行检测的压力传感器、用于对油罐内温度进行检测的温度传感器、用于感测所述油罐清洗机器人与油罐内壁接近程度的红外传感器、用于感测所述油罐清洗机器人与油罐内壁或障碍物距离的超声波传感器、用于感测所述油罐清洗机器人倾角的水平姿态传感器、用于检测油罐罐底清洁度的浊度传感器、用于感测所述油罐清洗机器人周围环境的摄像头、用于照明的探照灯和用于检测油罐内油气浓度的油气浓度监测仪,所述压力传感器、红外传感器和超声波传感器均安装在所述下壳体的外壁上,所述水平姿态传感器和浊度传感器均安装在所述底板的底端,所述温度传感器安装在所述上壳体内部,所述摄像头、探照灯和油气浓度监测仪均安装在所述上壳体的上部;所述压力传感器、温度传感 [0012] The sensing unit includes a communication robot for cleaning the pressure sensor detects a collision of the tank, the temperature inside the tank for a temperature sensor for detecting, for sensing the tank cleaning robot and tank wall proximity of the infrared sensor, for sensing the cleaning tank with an ultrasonic sensor robot tank wall or obstacle distance, for sensing the level of the tank cleaning robot posture inclination sensor, for tANK BOTTOMS cleanliness detecting turbidity sensor, for sensing the tank cleaning robot camera surroundings for searchlight illumination and for detecting the concentration of the oil tank and gas concentration monitor the pressure sensors, infrared sensors and ultrasonic sensors are mounted on the outer wall of the housing at the horizontal attitude sensors and turbidity sensors are mounted on the bottom end of the bottom plate, the temperature sensor is mounted inside the upper housing the camera, searchlight and hydrocarbon concentration monitor are mounted on an upper portion of said housing; said pressure sensor, a temperature sensor 器、红外传感器、超声波传感器、水平姿态传感器、浊度传感器、摄像头和油气浓度监测仪均与所述控制器模块的输入端相接。 , An infrared sensor, an ultrasonic sensor, a horizontal posture sensor, a turbidity sensor, camera and monitor hydrocarbon concentration in contact with both the input of the controller module.

[0013] 上述的一种油罐清洗机器人,其特征在于:所述上壳体的上部设置有球状壳体,所述油气浓度监测仪设置在所述球状壳体的表面上,所述摄像头和探照灯均设置在所述球状壳体内且外露在所述球状壳体的表面上,所述球状壳体内还设置有工作状态指示灯和蜂鸣器,所述工作状态指示灯和蜂鸣器均外露在所述球状壳体的表面上,所述工作状态指示灯和蜂鸣器均与所述控制器模块的输出端相接。 [0013] The robot cleaning a tank, wherein: said upper portion of the housing is provided with a spherical case, the oil and gas concentration monitor provided on the surface of the spherical housing, the camera and searchlights are disposed within the spherical case and exposed on the surface of the spherical shell, said spherical housing provided with a working status indicator and a buzzer, and the buzzer working status indicator are exposed on the surface of the spherical housing, the status indicator and the buzzer are working engagement with the output end of the controller module.

[0014] 上述的一种油罐清洗机器人,其特征在于:所述机体外轮廓的形状为圆柱形,所述上壳体的上部对称安装有两个提手,所述上壳体的上部设置有用于安装所述供电单元的电源盒,所述上壳体的侧壁上开有检修孔,所述检修孔处安装有检修孔盖,位于所述检修孔斜上方的上壳体上设置有通孔,所述上壳体的上部对称安装有两个用于向油罐内补充保护性惰性气体的惰性气体喷嘴。 [0014] The robot cleaning a tank, wherein: the shape of the outer contour of the body is cylindrical, the upper portion of the housing has two handles mounted symmetrically, on an upper portion of the housing is provided means for mounting said power supply cartridge, said upper housing is opened on the side wall of the manhole, the manhole cover is installed at manhole provided located obliquely above the access hole in the housing has a through hole, an upper portion of the upper housing mounted symmetrically two inert gas nozzles for supplementary protective inert gas into the tank. [0015] 上述的一种油罐清洗机器人,其特征在于:所述驱动轮由轮架和并排设置在所述轮架上的两圈辊子构成,所述辊子由钢制骨架和包裹在所述钢制骨架外的软橡胶构成,所述软橡胶上布设有多个凹腔室。 [0015] The robot cleaning a tank, wherein: the drive wheel and wheel carrier consists of two laps arranged side by side in the wheel carrier of the roller, the roller made of steel and wrapped in the skeleton soft rubber outer steel skeleton constituting the soft rubber laid on a plurality of recessed chambers.

[0016] 上述的一种油罐清洗机器人,其特征在于:所述清洗盘刷由与所述清洗盘刷液压马达的输出轴相接的刷杆、连接在刷杆底端的刷盘和设置在刷盘下表面上的多簇刷毛构成。 [0016] The robot cleaning a tank, wherein: said disk brush cleaning brush contact lever by the output shaft of the hydraulic motor brush cleaning disc, connected to the bottom end of the brush rod and the brush plate provided tufts of bristles constituting the lower surface of the brush disc.

[0017] 上述的一种油罐清洗机器人,其特征在于:多簇所述刷毛在所述刷盘下表面上呈螺旋多角星形分布,所述刷毛的长度从所述刷盘的外围到所述刷盘的中心逐渐减小,所述刷毛由钢丝软轴和包裹在所述钢丝软轴表面的聚乙烯层构成。 [0017] The kind of tank cleaning robot, characterized in that: the bristle tufts of the brush disc in a helical PolyStar distributed on the surface, the length of the bristles of the brush from the periphery of the disc to the center of said brush plate is gradually reduced, the bristle is made of wire wrapped in polyethylene flexible shaft and the flexible shaft surface layer of the steel wire.

[0018] 上述的一种油罐清洗机器人,其特征在于:所述刷盘的中心一体成型有向上伸出的套管,所述刷毛的中心设置有与所述套管相配合且供油罐内的油泥和污水通过的抽吸孔,所述刷杆包括与所述清洗盘刷液压马达的输出轴相接的条杆和设置在所述条杆底端且用于固定连接所述套管的连杆,所述条杆上套装有顶端与所述底板固定连接的套筒,所述套筒的侧壁上设置有用于连接抽油管的抽油管接口,所述套筒的上部安装有用于安装所述条杆的第一轴承,位于所述第一轴承下方的套筒内安装有第一油封,所述套筒的下部安装有用于安装所述套管的第二轴承,位于所述第二轴承上方的套筒内安装有第二油封,所述底板上设置有供抽油管穿过的抽油管孔。 [0018] The robot cleaning a tank, wherein: said central brush plate integrally formed with the sleeve projecting upwardly, the bristles of the central sleeve is provided with cooperating and supply tanks and sewage sludge in the suction hole through which the cleaning brush bar comprises an output shaft of the hydraulic motor in contact with the disc brush of the bar and the bar is provided at the bottom end and is fixedly connected to the sleeve link, the strip rod suit sleeve fixedly connected to the top of the base plate is provided on the side wall of the sleeve has an interface for connecting the draw tube pump tubing, an upper portion of said sleeve is mounted for the bar mounting said first bearing, the inner bearing sleeve is positioned below the first oil seal is mounted a first, lower portion of the sleeve is attached to the second bearing for mounting the sleeve located between the first the inner sleeve is mounted above the two second bearing oil seal, provided for pumping through the pipeline on the bottom plate of the draw tube holes.

[0019] 上述的一种油罐清洗机器人,其特征在于:所述自激振荡脉冲喷嘴包括谐振腔室和设置在谐振腔室内部且用于将谐振腔室内部空间分隔为三个谐振腔的三叶轮,所述谐振腔室的顶端中心位置处设置有用于将水流分向三个谐振腔的入水口,所述谐振腔室的底端设置有三个分别与三个所述谐振腔室相配合的出水口。 [0019] The robot cleaning a tank, wherein: the self-oscillating pulse comprises a resonant chamber and a nozzle disposed in the interior of the resonator chamber and the resonator chamber for the interior space into three resonator three wheel, at the top center position of the resonant cavity is provided with a chamber divided into three for the water inlet of the cavity, the bottom end of the resonant cavity is provided with three cooperating respectively with the three resonance chambers water outlet.

[0020] 上述的一种油罐清洗机器人,其特征在于:所述自激振荡脉冲喷嘴的上方安装有与所述伸缩梁组件连接且用于对油罐内壁和底部的油泥进行刮铲的刮铲装置。 [0020] The robot cleaning a tank, wherein: the self-oscillating is mounted above the nozzle pulses with a telescoping beam assembly connected to said sludge tank wall and is configured to perform bottom and scraping spatula shovel means.

[0021] 上述的一种油罐清洗机器人,其特征在于:所述伸缩梁组件包括第一伸缩梁、与所述第一伸缩梁铰接的第二伸缩梁和与所述第二伸缩梁铰接的第三伸缩梁,所述第一伸缩梁的底端固定连接有转盘,所述转盘连接在所述脉冲装置液压马达的输出轴上,所述第二伸缩梁与所述脉冲装置液压马达之间连接有第一液压伸缩缸,所述第二伸缩梁与所述第三伸缩梁之间连接有第二液压伸缩缸,所述自激振荡脉冲喷嘴与所述第三伸缩梁的端部固定连接;所述控制器模块的输出端接有用于控制第一液压伸缩缸伸缩的第一液压控制阀和用于控制第二液压伸缩缸伸缩的第二液压控制阀,所述第一液压控制阀接在第一液压伸缩缸的供油管路上,所述第二液压控制阀接在第二液压伸缩缸的供油管路上。 [0021] The robot cleaning a tank, wherein: said first telescoping telescopic beam, the first and second telescoping telescoping beam articulated telescopic beam and the second beam comprises a hinge beam assembly third telescopic beam, the bottom end of the first telescopic beam is fixedly connected with the turntable, the turntable means connected between said output shaft of the hydraulic motor pulse, the second pulse of the telescopic beam and the hydraulic motor means a telescopic hydraulic cylinder connected with a first, a second hydraulic telescopic cylinder between the second beam and the third telescoping telescopic beams are connected, the self-oscillating pulse nozzle and the end portion of the third telescopic beam is fixedly connected ; output end of the controller module for controlling a first pressure in the first hydraulic telescopic cylinder and a telescopic control valve for controlling the hydraulic pressure in the second second telescopic retractable cylinder control valve, the first hydraulic pressure control valve to a first supply pipe of the telescopic hydraulic cylinder, the second hydraulic control valve to the second hydraulic pressure supply pipe of the telescopic cylinder.

[0022] 本发明与现有技术相比具有以下优点: [0022] The present invention and the prior art has the following advantages:

[0023] I、本发明采用三个等边三角形布局的驱动轮作为行走机构,结构紧凑、移动灵活,通过远程控制可以使机器人在油罐体内自由全方位地移动,实现对油罐的全方位清洗。 [0023] I, the present invention employs three wheels equilateral triangle arrangement as walking mechanism, compact, mobile and can move the robot by remote control in the tank body consisting of full, to achieve the full range of the tanks cleaning.

[0024] 2、本发明多簇刷毛在刷盘下表面上呈螺旋多角星形分布,刷毛的特殊螺旋花纹布局配合转动可以形成朝向中心的负压涡流,被清洗盘刷清扫疏松的油泥和污水能够在负压涡流的作用下自动流向设置在刷毛中心位置处的抽吸孔内,能够方便地将油泥和污水抽出,便于油泥和污水的收集。 [0024] 2, the bristle tufts of the present invention is spirally PolyStar distribution, the bristles with special spiral pattern layout of a negative pressure can be rotated toward the center of the vortex, the disk is cleaned a brush cleaning loose and sewage sludge at an upper surface of the brush plate automatically under the action of the negative pressure flow vortex suction hole provided at a central position of the bristle can be easily withdrawn and sewage sludge, sewage sludge and facilitate the collection.

[0025] 3、本发明的机体上设置有提手,方便携带和移动,机体上开有检修孔,便于安装和检修。 [0025] 3, is provided with a handle on the body of the present invention, portable and mobile, are opened on the manhole body, easy to install and repair.

[0026] 4、本发明中驱动轮的辊子采用钢制骨架和软橡胶的复合结构,利用了仿生学原理,当所述油罐清洗机器人行走时,在重力的作用下,软橡胶发生变形,多个凹腔室中的气体排出形成负压吸附力,使所述油罐清洗机器人吸附在油罐底部,此种新颖设计既可以避免驱动轮与钢制的油罐罐底直接摩擦产生火花影响作业安全,又能使所述油罐清洗机器人在工作时保持较好的稳定性,而且相对普通负压吸附不需要外加动力。 [0026] 4, the present invention is a roller wheels composite structure steel skeleton and soft rubber, the use of bionics, when the tank cleaning robot walks, under the action of gravity, soft rubber is deformed, a plurality of cavities formed in the gas discharge chamber vacuum suction force, the suction tank cleaning robot at the tank bottom, the drive wheels can be avoided and this novel design impact and direct friction sparks oil tank bottom steel operational safety, but also make the holding tank cleaning robot good stability in operation, and relatively common vacuum adsorption no external power.

[0027] 5、本发明中的自激脉冲装置具有普通高压直流清洗达不到的清洗效果,同时节约能源,使用自来水而不用清洗剂,可以避免二次污染,利于油泥的后续处理。 [0027] 5, in the present invention is a self-excited pulse cleaning apparatus having a high voltage direct current reach ordinary cleaning effect, while saving energy, using water instead of the cleaning agent, avoid secondary pollution, sludge facilitate subsequent processing.

[0028] 6、本发明自激振荡脉冲喷嘴具有一个入口三个出口的优势,能够形成冲击覆盖面,对油罐内油泥进行冲打、疏松和清洗,清洗效果好。 [0028] 6, the present invention is self-oscillating pulse has the advantage of a nozzle inlet three outlets can be formed to cover the impact surface of the sludge tank be washed up, loose and cleaning, cleaning effect.

[0029] 7、本发明实现了清扫装置、刮铲装置和自激脉冲装置三重清洗,清扫装置主要针对油泥沉积的油罐底部,自激脉冲装置针对油罐罐壁或罐底上的油泥进行有效冲散和打碎,刮铲装置针对自激脉冲水射流清洗和盘刷刷洗不彻底的坚固油泥,整体清洗效果良好;刷毛由钢丝软轴和包裹在所述钢丝软轴表面的聚乙烯层构成,具有较好的强度和清洗效果,而且能够避免摩擦产生火花。 [0029] 7, the present invention is to achieve a cleaning device, and a self-excited pulser means spatula triple washing, cleaning means for the main tank bottom sludge deposition, means for self-excited pulse sludge tank on the tank bottom or tank wall effectively broken up and broken, spatula means for cleaning the self-excited pulsed jet and the disc is not completely robust brush to wash the sludge, overall good cleaning effect; bristles flexible shaft wire wrap polyethylene layer and the surface of the flexible shaft wire configuration, having a cleaning effect and good strength, but also to avoid friction sparks.

[0030] 8、本发明中机器人整体采用液压驱动,硬件上中具有较高的安全系数,与普遍采用的电驱动相比能减少电火花出现的可能。 [0030] 8, the present invention is the overall hydraulic drive robot, having a high safety factor in hardware, compared to the commonly used electric drive can reduce spark may occur.

[0031] 9、本发明中的控制单元可使机器人工作在人工控制和智能作业两种模式下,提高了机器人工作的智能化程度,减轻了操作人员的作业难度和强度。 [0031] 9, in the present invention, the control unit allows the robot work under manual control and intelligent operation modes, to improve the intelligence of the work robot, and reduce the difficulty of the job operation intensity.

[0032] 10、本发明传感通讯单元的功能完备,可以及时反馈作业过程中的技术参数,并较好的控制油罐清洗机器人,惰性气体的及时补充可以确保作业过程中的安全,可使油罐清洗机器人在全程密闭的环境下进行作业。 [0032] 10, the communication function of the sensing unit of the invention complete, timely feedback during operation of the technical parameters, and better control replenish tank cleaning robot, an inert gas may ensure safety during operation, can tank cleaning robot in operation throughout the confined environment.

[0033] 11、本发明采用了有线连接和控制,通讯受外界因素的干扰小,工作可靠性高。 [0033] 11, the present invention employs a wired connection and control, communication of small interference by external factors, high operating reliability.

[0034] 12、本发明的实用性强,推广应用价值高。 [0034] 12, the usefulness of the present invention, high application value.

[0035] 综上所述,本发明设计新颖合理,智能化程度高,工作可靠性高,安全性能好,能够实现对油罐的全方位清洗,节能环保,实用性强,推广应用价值高。 [0035] In summary, the present invention is novel reasonable design, high intelligence, high reliability, security, performance, can achieve all-round cleaning of the tanks, energy saving, practical, high application value.

[0036] 下面通过附图和实施例,对本发明的技术方案做进一步的详细描述。 [0036] The following drawings and embodiments, detailed description of the further aspect of the present invention.

附图说明 BRIEF DESCRIPTION

[0037] 图I为本发明的整体结构示意图。 [0037] Figure I a schematic overall structure of the present invention. [0038] 图2为图I的仰视图。 [0038] I FIG. 2 is a bottom view of FIG.

[0039] 图3为本发明行走单元和清扫装置在底板上的布设位置示意图。 [0039] Fig 3 a schematic layout unit position on the base plate and the cleaning apparatus of the present invention is walking.

[0040] 图4为本发明驱动轮的结构示意图。 [0040] FIG. 4 schematic structural diagram of a drive wheel of the present invention.

[0041] 图5为本发明辊子的横截面图。 [0041] FIG. 5 a cross sectional view of the roller of the present invention.

[0042] 图6为本发明清洗盘刷的结构示意图。 [0042] FIG. 6 is a schematic structure of the disc brush cleaning of the present invention.

[0043] 图7为本发明刷杆、连杆和套管的连接关系示意图。 And the link connection relationship schematic sleeve stems [0043] FIG. 7 of the present invention. [0044] 图8为本发明摄像头、探照灯、工作状态指示灯和蜂鸣器在球状壳体上的布设位置示意图。 [0044] FIG 8 cameras, searchlight, schematic layout position of the working status indicator on the spherical case and the buzzer of the present invention.

[0045] 图9为本发明自激脉冲装置的结构示意图。 [0045] Figure 9 a schematic structural diagram of a self-excited pulse device of the present invention.

[0046] 图10为本发明自激振荡脉冲喷嘴的结构示意图。 [0046] FIG. 10 is a schematic structural diagram of the self-oscillating pulse nozzles invention.

[0047] 图11为图10的AA视图。 [0047] FIG. 11 is a view AA of Figure 10.

[0048] 图12为本发明控制单元的电路原理框图。 [0048] FIG. 12 is a circuit block diagram of a control unit of the present invention.

[0049] 图13为本发明的使用状态示意图。 [0049] FIG. 13 is a schematic diagram of state of use of the invention.

[0050] 附图标记说明: [0050] REFERENCE NUMERALS:

[0051] I 一底板; 2-1—下壳体; 2-2—上壳体; [0051] I a bottom; 2-1- lower housing; 2-2- upper housing;

[0052] 2-3—球状壳体; 3—驱动轮液压马达;4一驱动轮; [0052] 2-3- spherical case; 3- driving wheel of the hydraulic motor; a driving wheel 4;

[0053] 4-1 一轮架; 4-2—辊子; 4-21—钢制骨架; [0053] 4-1 a frame; 4-2- roller; 4-21- steel skeleton;

[0054] 4-22—软橡胶; 4-23—凹腔室; 5—挡水板; [0054] 4-22- soft rubber; 4-23- cavity chamber; 5- retaining plate;

[0055] 6一人工控制模块; 6-1—不教操纵板; 6-2—第一处理器模块; [0055] 6 a manual control module; 6-1- not teach actuating plate; 6-2- first processor module;

[0056] 6-3—第一I/O接口; 7—智能作业模块; 7-1—数据存储器; [0056] 6-3- first I / O interface; 7- intelligent work modules; 7-1- data memory;

[0057] 7-2—第二处理器模块;7_3—第二I/O接口; 8—控制器模块; [0057] 7-2- second processor module; 7_3- second I / O interfaces; 8- controller module;

[0058] 9一清洗盘刷; 9-1—条杆; 9-2—刷盘; [0058] 9 a disc brush cleaning; 9-1- the bar; 9-2- brush plate;

[0059] 9-3—刷毛; 9-4一套管; 9-5—连杆; [0059] 9-3- bristles; a sleeve 9-4; 9-5 link;

[0060] 9-6—套筒; 9-61—抽油管接口; 9-7—第二轴承; [0060] 9-6- sleeve; 9-61- suction pipe interfaces; 9-7- second bearing;

[0061] 9-8—第二油封; 9-9 一第一轴承; 9-10—第一油封; [0061] 9-8- second oil seal; 9-9 a first bearing; 9-10- first oil seal;

[0062] 10一清洗盘刷液压马达; 11一抽吸孔; [0062] 10 a hydraulic motor brush cleaning pan; 11 a suction opening;

[0063] 12—脉冲装置液压马达; 13 —自激振荡脉冲喷嘴; [0063] 12-pulse means of the hydraulic motor; 13-- self-oscillating pulse nozzle;

[0064] 13-1—谐振腔室; 13-2—三叶轮; 13-3—入水口; [0064] 13-1- resonant cavity; 13-2- three impellers; 13-3- inlet;

[0065] 13-4-出水口; 14-1-第一伸缩梁; 14-2-第二伸缩梁; [0065] 13-4- outlet; 14-1- first telescopic beam; 14-2- second telescopic beam;

[0066] 14-3一第二伸缩梁; 14-4一转盘; 15-1—第一液压伸缩缸; [0066] a second telescoping beam 14-3; 14-4 a turntable; 15-1- first hydraulic telescopic cylinder;

[0067] 15-2—第二液压伸缩缸;16—刮铲装置; 17—压力传感器; [0067] 15-2- second hydraulic telescopic cylinder; 16- spatula means; 17- pressure sensor;

[0068] 18一温度传感器; 19一红外传感器; 20—超声波传感器; [0068] a temperature sensor 18; 19 a infrared sensor; ultrasonic sensor 20;

[0069] 21—摄像头; 22—探照灯; 23—油气浓度监测仪; [0069] 21 camera; 22- searchlight; 23- hydrocarbon concentration monitor;

[0070] 24—工作状态指示灯; 25—蜂鸣器; 26 —电源盒; [0070] 24- working status indicator; buzzer 25; 26 - power supply box;

[0071] 27—惰性气体喷嘴; 28—提手; 29—检修孔盖; [0071] 27- inert gas nozzle; 28- handle; 29- manhole cover;

[0072] 30—通孔; 31—水平姿态传感器;32—浊度传感器; [0072] 30- through hole; 31- level posture sensor; 32- turbidity sensor;

[0073] 33一第二I/O接口; 34—第一液压马达驱动器; [0073] 33 a second I / O interface; 34- first hydraulic motor driver;

[0074] 35—第二液压马达驱动器;36—第三液压马达驱动器;37—抽油管孔; [0074] The second hydraulic motor driver 35; 36- third hydraulic motor driver; 37- pumping tubing bore;

[0075] 38—第一液压控制阀; 39—第二液压控制阀; 40—油罐;[0076] 41 一油罐清洗机器人; 42—水箱; 43—惰性气体储罐; [0075] 38- a first hydraulic pressure control valve; 39- second hydraulic pressure control valve; tank 40; [0076] robot 41 a cleaning tank; 42- tank; an inert gas storage tank 43;

[0077] 44—电动液压泵; 45—水泵; 46—惰性气体传输管道; [0077] 44- electric pump; 45- pump; 46- inert gas delivery conduit;

[0078] 47—惰性气体电动阀; 48—供油管路; 49 一水管; [0078] 47- inert gas electric valve; 48- supply line; a pipe 49;

[0079] 50一软管线缆卷筒; 51—导电电缆; 52—卷筒电机; [0079] A hose cable spool 50; 51 a conductive cable; 52- drum motor;

[0080] 53—螺杆泵; 54—油泥储放池。 [0080] 53- screw; 54- sludge storage pools. 具体实施方式 Detailed ways

[0081] 如图I、图2和图3所示,本发明包括机体、行走单元、清洗单元、控制单元和传感通讯单元,以及用于为所述行走单元、清洗单元、控制单元和传感通讯单元供电的供电单元; [0081] FIG. I, 2 and 3, the present invention comprises a body, traveling unit, washing unit, the communication control unit and the sensing unit, said traveling unit and a cleaning unit, a control unit and a transmission a sense of power supply unit of the communication unit;

[0082] 所述机体包括底板I、固定连接在底板I上方的下壳体2-1和固定连接在下壳体 [0082] The body comprises a base plate I, is fixedly connected to the bottom plate at the top of the housing and fixedly connected to I 2-1 lower housing

2-1上方的上壳体2-2; 2-1 2-2 above the upper case;

[0083] 所述行走单元包括三个驱动轮4和分别用于驱动三个驱动轮4的三个驱动轮液压马达3,三个所述驱动轮4呈等边三角形地嵌入安装在所述底板I上,三个所述驱动轮液压马达3呈等边三角形地布设在所述底板I上,所述驱动轮4与所述驱动轮液压马达3的输出轴相接,所述驱动轮4的上方套装有与所述底板I连接且用于防止油泥污水进入到所述下壳体2-1内的挡水板5 ;挡水板5能够使机体密闭,避免油泥污水进入到机体内引起故障; [0083] The three wheels each traveling unit comprises three wheels for driving the hydraulic motor 4, three wheels 3, 4 of the three wheels form an equilateral triangle and 4 mounted on the base plate embedded the I, three of said drive wheel hydraulic motor 3 equilateral triangularly arranged on the base plate I, the drive wheel 4 and the output shaft of the drive wheel in contact with the hydraulic motor 3, the drive wheels 4 I have set above the base plate and connected to the sewage sludge to prevent the flap into the lower inner housing 2-15; flap 5 so that the body can be sealed, to avoid sewage sludge into the body cause a malfunction ;

[0084] 所述清洗单元由清扫装置和自激脉冲装置构成,所述清扫装置包括三个清洗盘刷9和分别用于带动三个清洗盘刷9转动的三个清洗盘刷液压马达10,三个所述清洗盘刷9呈等边三角形地布设在所述底板I下方,三个所述清洗盘刷液压马达10呈等边三角形地嵌入安装在所述底板I上,所述清洗盘刷9与所述清洗盘刷液压马达10的输出轴相接;所述自激脉冲装置包括伸缩梁组件、与伸缩梁组件一端连接且用于带动伸缩梁组件转动的脉冲装置液压马达12和与伸缩梁组件另一端连接且用于喷射脉冲的自激振荡脉冲喷嘴13,所述脉冲装置液压马达12安装在下壳体2-1内且与下壳体2-1固定连接; [0084] The cleaning unit is constituted by the cleaning means and the self-excited pulse apparatus, the cleaning device comprises three cleaning brushes 9 and disk drive are used for washing three disc brush 9 rotating disc brush washing three hydraulic motors 10, the disc brush washing three equilateral triangularly 9 was run under the floor I, the three disc brush cleaning hydraulic motor 10 equilateral triangle embedded mounted on the base plate I, the disc brush cleaning 9 with the washing brush plate of the hydraulic motor output shaft 10 in contact; the self-excited pulse beam assembly comprises a telescopic device, one end of the telescopic beam assembly connected to and driven by a hydraulic telescoping beam assembly pulse motor 12 is rotated and the telescopic and connecting the other end of the beam assembly for ejecting the self-oscillation pulse pulse nozzle 13, the pulse motor 12 is mounted to the lower hydraulic and 2-1 secured within the housing connected to the lower housing 2-1;

[0085] 所述控制单元由远程控制部分和机体控制部分构成,所述远程控制部分包括人工控制模块6和智能作业模块7,所述人工控制模块6包括依次相接的不教操纵板6-1、第一处理器模块6-2和第一I/O接口6-3,所述智能作业模块7包括依次相接的数据存储器7-1、第二处理器模块7-2和第二I/O接口7-3 ;所述机体控制部分包括控制器模块8和与所述控制器模块8相接的第三I/O接口33,所述控制器模块8的输出端接有用于驱动驱动轮液压马达3的第一液压马达驱动器34、用于驱动清洗盘刷液压马达10的第二液压马达驱动器35和用于驱动脉冲装置液压马达12的第三液压马达驱动器36,所述驱动轮液压马达3与第一液压马达驱动器34的输出端相接,所述清洗盘刷液压马达10与第二液压马达驱动器35的输出端相接,所述脉冲装置液压马达12与第三液压马达驱动器36的输出端相接,所述第一I/ [0085] The control portion constituted by a remote control unit and the control section of the body, the remote manual control module includes a control section 6 and intelligent work modules 7, the manual control module 6 comprises sequentially contacting the actuating plate does not teach 6- 1, a first processor module 6-2 and the first I / O interfaces 6-3, the smart module 7 comprises sequentially contacting job data memory 7-1, 7-2 second processor module and a second I / O interfaces 7-3; the body control portion 8 includes a controller module and a controller module in contact with the third 8 I / O interface 33, the controller module output end 8 is for driving 3 a first wheel hydraulic motor hydraulic motor driver 34 for driving the disc brush cleaning hydraulic motor driving the second hydraulic motor 10 for driving the pulse means 35 and the third hydraulic motor driving the hydraulic motor 12 is 36, the hydraulic drive wheels the motor 3 and the output terminal of the first hydraulic motor 34 is engaged, the disk cleaning brush 10 in contact with the hydraulic motor output of the second hydraulic motor 35, the pulse motor 12 and the hydraulic motor a third hydraulic actuator 36 phase output terminal, the first I / O接口6-3和第二I/O接口7-3均与第三I/O接口33相接;人工控制模块6和智能作业模块7并联,可以使所述油罐清洗机器人41工作在人工控制和智能作业两种模式下,以提供工作人员更多的休息间隙,减轻了工作强度,提高了智能化;在人工控制模式下,工作人员可以通过操作示教操纵板6-1向所述油罐清洗机器人41发出动作指令,在智能作业模式下,第二处理器模块7-2会根据所述机体控制部分所反馈的油罐清洗机器人41当时的工作状态,自动向油罐清洗机器人41发出下一步的动作指令。 O interfaces 6-3 and a second I / O interfaces 7-3 and the third both I / O 33 is an interface contact; artificial intelligence job control module 6 and the module 7 connected in parallel, the tank cleaning robot can work in artificial 41 under control and intelligent operation modes, in order to provide more rest staff gap, reducing the intensity of work, increased intelligence; in manual control mode, the operating personnel can teach to the actuating plate 6-1 tank cleaning operation command issued by the robot 41, in the smart mode of operation, the second processor module 7-2 tank portion according to the feedback control will cleaning body 41 when the operation state of the robot, the robot 41 to the automatic cleaning tank issuing the next operation command. 具体实施时,第一处理器模块6-2和第二处理器模块7-2可以采用单片机来实现,控制器模块8可以采用可编程逻辑控制器来实现。 In specific implementation, the first processor and a second processor module module 6-2 7-2 may be implemented using microcontrollers, the controller module 8 may be implemented using a programmable logic controller.

[0086] 所述传感通讯单元包括用于对所述油罐清洗机器人41发生碰撞进行检测的压力传感器17、用于对油罐40内温度进行检测的温度传感器18、用于感测所述油罐清洗机器人41与油罐40内壁接近程度的红外传感器19、用于感测所述油罐清洗机器人41与油罐40内壁或障碍物距离的超声波传感器20、用于感测所述油罐清洗机器人41倾角的水平姿态传感器31、用于检测油罐40罐底清洁度的浊度传感器32、用于感测所述油罐清洗机器人41周围环境的摄像头21、用于照明的探照灯22和用于检测油罐40内油气浓度的油气浓度监测仪23,所述压力传感器17、红外传感器19和超声波传感器20均安装在所述下壳体2-1的外壁上,所述水平姿态传感器31和浊度传感器32均安装在所述底板I的底端,所述温度传感器18安装在所述上壳体2-2内部,所述摄像头21、探照灯22和油气浓度监测仪23均安装在 [0086] The communication unit comprises a sensor for sensing the pressure of the cleaning tank 41 of the robot sensor 17 detects collision, a temperature sensor 40 for detecting the temperature of the tank 18, for tank cleaning robot ultrasonic sensor 41 and the inner wall of the tank 40 proximity of the infrared sensor 19 for sensing the oil tank 41 and the washing robot or an inner wall of the tank 40 from the obstacle 20, for sensing the tank cleaning level posture sensor 41 inclination 31 of the robot, turbidity sensor 40 for detecting a tank cleanliness tank bottom 32, tank for sensing the washing robot 41 environment surrounding the camera 21 for illuminating the searchlight 22 and tank 40 for detecting the concentration of oil and gas concentration monitor 23, the pressure sensor 17, infrared sensor 19 and the ultrasonic sensor 20 are mounted at the outer wall of the housing 2-1, the horizontal posture sensor 31 and the turbidity sensor 32 are mounted on the bottom end of the base plate I, the temperature sensor 18 is mounted on the inner housing 2-2, the camera 21, 22 and searchlight hydrocarbon concentration monitor 23 are installed in the 所述上壳体2-2的上部;所述压力传感器17、温度传感器18、红外传感器19、超声波传感器20、水平姿态传感器31、浊度传感器32、摄像头21和油气浓度监测仪23均与所述控制器模块8的输入端相接。 2-2 of the upper housing; the pressure sensor 17, temperature sensor 18, an infrared sensor 19, the ultrasonic sensor 20, the horizontal posture sensor 31, a turbidity sensor 32, camera 21 and the hydrocarbon concentration monitor 23 and the average said controller module input 8 of the contact. 具体实施时,将所述水平姿态传感器31安装在所述底板I的底端中部。 During specific embodiment, the horizontal posture sensor 31 is mounted in the middle of the bottom end of the base plate I. 设置四个所述压力传感器17。 The pressure sensor 17 is provided four. 将所述驱动轮液压马达3与所述清洗盘刷液压马达10间隔交叉布设,互不干涉。 The hydraulic motor 3 and the drive wheel of the hydraulic motor brush cleaning disc 10 spaced cross laid, interfere with each other. 将所述机体控制部分和温度传感器18集成在控制盒内,并将所述控制盒设置在上壳体2-2内。 The machine control portion 18 and a temperature sensor integrated in the control box and the control box is disposed within the upper housing 2-2. 传感通讯单元能够确保所述油罐清洗机器人41的正常工作并保证作业过程的安全。 Sensing the communication unit to ensure normal operation of tank cleaning robot 41 to ensure safe operation of the process.

[0087] 结合图8,本实施例中,所述上壳体2-2的上部设置有球状壳体2-3,所述油气浓度监测仪23设置在所述球状壳体2-3的表面上,所述摄像头21和探照灯22均设置在所述球状壳体2-3内且外露在所述球状壳体2-3的表面上,所述球状壳体2-3内还设置有工作状态指示灯24和蜂鸣器25,所述工作状态指示灯24和蜂鸣器25均外露在所述球状壳体2_3的表面上,所述工作状态指示灯24和蜂鸣器25均与所述控制器模块8的输出端相接。 [0087] in conjunction with FIG. 8, in this embodiment, the upper portion of the housing is provided with a spherical case 2-2 2-3, the hydrocarbon concentration monitor 23 is provided on the spherical surface of the housing 2-3 on the camera 21 and the headlight 22 are disposed within the spherical case 2-3 and exposed on the surface of the spherical case 2-3, further provided with a working state in which the spherical case 2-3 indicator light 24 and buzzer 25, the working status indicator 24 and the buzzer 25 are exposed on the surface of the spherical case 2_3 of the working status indicator 24 and the buzzer 25 are connected with the the controller output 8 of the contact module.

[0088] 其中,球状壳体2-3构成了所述油罐清洗机器人41的头部,具体实现时,将探照灯22设置两个并设置在球状壳体2-3的中上部,类似人的眼睛;将工作状态指示灯24设置在球状壳体2-3的中部,类似人的鼻子,将摄像头21选用CCD摄像头并设置在球状壳体2-3的中下部,类似人的嘴巴。 [0088] wherein the spherical head portion of the housing constitutes 2-3 tank cleaning robot 41, the specific implementation, the headlight 22 is provided and disposed in the upper two spherical case 2-3, similar to the human eye; the operation indicator 24 is provided in the center of the spherical case 2-3, similar to the human nose, selection of the camera 21 and CCD camera disposed in the lower portion of the spherical case 2-3, similar to the human mouth.

[0089] 本实施例中,所述机体外轮廓的形状为圆柱形,所述上壳体2-2的上部对称安装有两个提手28,所述上壳体2-2的上部设置有用于安装所述供电单元的电源盒26,所述上壳体2-2的侧壁上开有检修孔,所述检修孔处安装有检修孔盖29,位于所述检修孔斜上方的上壳体2-2上设置有通孔30,所述上壳体2-2的上部对称安装有两个用于向油罐40内补充保护性惰性气体的惰性气体喷嘴27。 [0089] In this embodiment, the shape of the outer contour of the body is cylindrical, the upper part of the housing 2-2 has two symmetrically mounted handle 28, an upper portion of the upper case is provided useful for 2-2 power supply cartridge mounted to the unit 26, the upper housing is opened on the side wall 2-2 of the manhole, the manhole at the manhole cover 29 is attached, is located obliquely above the access hole in the housing 2-2 is provided on the body with a through-hole 30, an upper portion of said upper housing is attached to two symmetrically 2-2 for supplementary protective inert gas into the tank 40 of inert gas nozzles 27.

[0090] 结合图4和图5,本实施例中,所述驱动轮4由轮架4-1和并排设置在所述轮架4-1上的两圈辊子4-2构成,所述辊子4-2由钢制骨架4-21和包裹在所述钢制骨架4-21外的软橡胶4-22构成,所述软橡胶4-22上布设有多个凹腔室4-23。 [0090] in conjunction with FIGS. 4 and 5, in this embodiment, the drive wheel 4 in two laps on the rollers 4-1 of the wheel carrier wheel carrier composed of 4-1 and 4-2 side by side, the roller 4-2 soft rubber outside the steel skeleton 4-21 4-22 4-21 and constituted by wrapping a steel skeleton, said soft rubber laid 4-22 4-23 plurality of recessed chambers. 所述辊子4_2采用钢制骨架4-21和软橡胶4-22的复合结构,利用了仿生学原理,当所述油罐清洗机器人41行走时,在重力的作用下,软橡胶4-22发生变形,多个凹腔室4-23中的气体排出形成负压吸附力,使所述油罐清洗机器人41吸附在油罐40底部,此种新颖设计既可以避免驱动轮4与钢制的油罐40罐底直接摩擦产生火花影响作业安全,又能使所述油罐清洗机器人41在工作时保持较好的稳定性。 The roller 4_2 composite structure of steel and the soft rubber 4-22 4-21 skeleton, the use of bionics, when the tank cleaning robot 41 walks, under the action of gravity, soft rubber occurs 4-22 modification, a plurality of recesses 4-23 gas discharge chamber a negative pressure suction force, the suction tank cleaning robot 41 at the bottom of the tank 40, the drive wheel can be avoided and this novel design with 4 steel oil bottom of the tank 40 can directly affect the operational safety friction sparks, but also make the robot 41 holding the cleaning tank better stability during operation. [0091] 结合图6和图7,本实施例中,所述清洗盘刷9由与所述清洗盘刷液压马达10的输出轴相接的刷杆、连接在刷杆底端的刷盘9-2和设置在刷盘9-2下表面上的多簇刷毛9-3构成。 [0091] in conjunction with FIGS. 6 and 7, in the present embodiment, the plate brush cleaning brush bar 9 by contact with the cleaning disc brush hydraulic motor output shaft 10 is connected to the bottom end of the brush disc stems 9- 2 and 9-2 provided on the lower surface of the brush disc of the plurality of bristles tufts 9-3 configuration. 多簇所述刷毛9-3在所述刷盘9-2下表面上呈螺旋多角星形分布,所述刷毛9-3的长度从所述刷盘9-2的外围到所述刷盘9-2的中心逐渐减小,所述刷毛9-3由钢丝软轴和包裹在所述钢丝软轴表面的聚乙烯层构成。 The bristle tufts of 9-3 helical 9-2 PolyStar distributed on the surface of the disc brush, the bristle length of the brush disc 9-3 to 9 from the periphery of the brush disc 9-2 -2 center gradually reduced, the bristle is made of steel wire flexible shaft 9-3 and the wires wrapped in polyethylene layer surface of the flexible shaft. 所述刷盘9-2的中心一体成型有向上伸出的套管9-4,所述刷毛9-3的中心设置有与所述套管9-4相配合且供油罐40内的油泥和污水通过的抽吸孔11,所述刷杆包括与所述清洗盘刷液压马达10的输出轴相接的条杆9-1和设置在所述条杆9-1底端且用于固定连接所述套管9-4的连杆9-5,所述条杆9-1上套装有顶端与所述底板I固定连接的套筒9-6,所述套筒9-6的侧壁上设置有用于连接抽油管的抽油管接口9-61,所述套筒9-6的上部安装有用于安装所述条杆9-1的第一轴承9-9,位于所述第一轴承9-9下方的套筒9-6内安装有第一油封9- 10,所述套筒9-6的下部安装有用于安装所述套管9-4的第二轴承9-7,位于所述第二轴承9-7上方的套筒9-6内安装有第二油封9-8,所述底板I上设置有供抽油管穿过的抽油管孔37。 9-2 the center of the brush disc is integrally formed with a sleeve extending upwardly 9-4, 9-3 center of the bristle is provided with sludge cooperating with the sleeve 9-4 and 40 for the tank and water through the suction hole 11, the bar comprising said brush rod with said brush cleaning disc output shaft of the hydraulic motor 10 and a contact 9-1 and provided for fixing the bottom end of the bar at 9-1 9-4 linkage connecting the sleeve to the top of the package sleeve with said base plate fixedly connected to I 9-6 9-5 on the the bar 9-1, 9-6 said sleeve sidewall provided with a pipe for drawing an interface 9-61 connected to the draw tube, the sleeve is attached to an upper portion of a first bearing 9-6 9-9 9-1 for mounting the bar of the, in the first bearing 9 9-6 the inner sleeve is mounted below the first oil -9 9-10, 9-6 lower portion of the sleeve is attached to the mounting sleeve of the second bearing 9-79-4, located the inner sleeve over the second bearing 9-7 9-6 9-8 second oil seal is mounted, is provided on the base plate I for pumping through tubing hole 37 of the suction pipe. 具体实施时,连杆9-5的数量为三根且均匀地分布在所述条杆9-1底端。 In specific implementation, the number of links 9-5 is three and uniformly distributed in the bottom end of the bar 9-1. 清洗盘刷液压马达10带动所述条杆9-1转动时,所述条杆9-1通过连杆9-5带动刷盘9-2和刷毛9-3转动,而套筒9_6保持不动,刷毛9_3的特殊螺旋花纹布局配合转动可以形成朝向中心的负压涡流,被清洗盘刷9清扫疏松的油泥和污水能够在负压涡流的作用下自动流向设置在刷毛9-3中心位置处的抽吸孔11内,并经抽吸孔11进入到套管9-4中,进入到套管9-4中的油泥和污水穿过三根连杆9-5之间的缝隙并进入到套筒9-6内,通过在抽油管接口9-61上连接抽油管,能够方便地将油泥和污水抽出,便于油泥和污水的收集。 Cleaning the disc brush 10 driven by a hydraulic motor 9-1 rotates the strip lever, the link is rotated by the bar 9-1 9-5 9-2 and bristle brush disc drives 9-3, and the sleeve remains stationary 9_6 special spiral pattern layout of the bristle 9_3 may be formed with rotational vortex toward the center of the negative pressure, is cleaned of loose cleaning disc brush 9 and sewage sludge can be automatically flow vortex in the negative pressure provided at the central position of the bristle 9-3 the suction hole 11, and enters into the sleeve 11 through the suction holes 9-4, 9-5 into the space between the sleeve and sewage sludge 9-4 through three rod and into the sleeve within 9-6, the suction pipe connected to the suction pipe interfaces 9-61, can be easily withdrawn and sewage sludge, sewage sludge and facilitate the collection. 所述刷毛9-3由钢丝软轴和包裹在所述钢丝软轴表面的聚乙烯层构成,具有较好的强度和清洗效果。 9-3 is constituted by the bristle flexible shaft wire wrapped in polyethylene layer and the surface of the steel wire flexible shaft, having a good cleaning effect and strength.

[0092] 结合图10和图11,本实施例中,所述自激振汤脉冲嗔嘴13包括谐振腔室13-1和设置在谐振腔室13-1内部且用于将谐振腔室13-1内部空间分隔为三个谐振腔的三叶轮13-2,所述谐振腔室13-1的顶端中心位置处设置有用于将水流分向三个谐振腔的入水口 [0092] in conjunction with FIGS. 10 and 11, in the present embodiment, since the excitation pulse soup anger nozzle comprises a resonance chamber 13 provided inside the resonator 13-1 and 13-1 and the chamber for the resonance chamber 13 -1 interior space into three resonator three impeller 13-2, top center position at the resonant chamber 13 is provided with a cavity for flow of water divided into three inlet cavity

13-3,所述谐振腔室13-1的底端设置有三个分别与三个所述谐振腔室13-1相配合的出水口13-4。 13-3, 13-1 bottom end of the resonant cavity is provided with three each of the three resonant chamber outlet cooperating 13-1 13-4. 所述自激振荡脉冲喷嘴13的上方安装有与所述伸缩梁组件连接且用于对油罐40内壁和底部的油泥进行刮铲的刮铲装置16。 Above the self-oscillating pulse nozzle 13 is mounted is connected to the telescopic beam assembly and an inner wall 40 and a bottom of the sludge tank 16 is means spatula spatula. 当水流从入水口13-3进入后,分别进入三个谐振腔室13-1并由三个出水口13-4形成冲打面,对油罐40内油泥进行冲打、疏松和清洗,使得本发明不需要添加任何化学药剂,使用自来水即可实现清洗,防止造成污染,并利于油泥的回收和后续处理。 When water flows from the water inlet into the 13-3, respectively, into the three resonant chamber 13-1 is formed by punching three outlet 13-4 playing surface, the inner tank 40 to be washed up sludge, and cleaning loose, such that the present invention does not require adding any chemicals, cleaning can be realized with tap water, to prevent contamination, and facilitates subsequent treatment and recycling of sludge. 具体实施时,刮铲装置16的材料为高强度和硬度的塑料,防止在工作的过程中与油罐40侧壁或底部摩擦产生火花。 In specific implementation, the spatula means 16 is a plastic material of high strength and hardness, friction sparks and prevent the side walls 40 or bottom of the tank in the course of work.

[0093] 结合图9,本实施例中,所述伸缩梁组件包括第一伸缩梁14-1、与所述第一伸缩梁 [0093] in conjunction with FIG. 9, in this embodiment, the telescoping beam assembly comprises a first telescoping beams 14-1, the first telescopic beam

14-1铰接的第二伸缩梁14-2和与所述第二伸缩梁14-2铰接的第三伸缩梁14_3,所述第一伸缩梁14-1的底端固定连接有转盘14-4,所述转盘14-4连接在所述脉冲装置液压马达12的输出轴上,所述第二伸缩梁14-2与所述脉冲装置液压马达12之间连接有第一液压伸缩缸15-1,所述第二伸缩梁14-2与所述第三伸缩梁14-3之间连接有第二液压伸缩缸15_2,所述自激振荡脉冲喷嘴13与所述第三伸缩梁14-3的端部固定连接;所述控制器模块8的输出端接有用于控制第一液压伸缩缸15-1伸缩的第一液压控制阀38和用于控制第二液压伸缩缸15-2伸缩的第二液压控制阀39,所述第一液压控制阀38接在第一液压伸缩缸15-1的供油管路上,所述第二液压控制阀39接在第二液压伸缩缸15-2的供油管路上。 The second articulated telescopic 14-2 14-1 14-2 articulated beam and the second beam 14_3 third telescopic telescopic beam, the beam 14-1 is fixedly connected bottom end of the first telescopic turntable 14-4 , the turntable 14-4 is connected to the hydraulic means of the pulse motor output shaft 12, the second telescopic beam 14-2 and the pulse means is connected between the hydraulic motor 12 of the first hydraulic telescopic cylinders 15-1 , the second and the third telescoping telescopic beam 14-2 is connected between the second beam 14-3 telescopic hydraulic cylinder 15_2, the self-excited oscillation of the pulse nozzle 13 of the third telescopic beams 14-3 end is fixed; said output termination module controller 8 for controlling a first pressure in the first hydraulic telescopic cylinders 15-1 15-2 retractable telescopic control valve 38 for controlling the second hydraulic cylinder of the second telescopic hydraulic pressure control valve 39, the first hydraulic control valve 38 connected to a first hydraulic cylinder for telescopic pipe of 15-1, 15-2 and the second hydraulic oil supply control valve 39 is connected to the second hydraulic telescopic cylinders pipeline. 具体实施时,所述第二伸缩梁14-2通过圆柱铰链与所述第一伸缩梁14-1铰接,所述第三伸缩梁14-3通过圆柱铰链与所述第二伸缩梁14-2铰接。 When particular embodiments, the second telescoping cylindrical beam 14-2 by the first hinge hinged telescopic beam 14-1, 14-3 by the third telescopic beams of said second cylindrical hinge with telescoping beam 14-2 articulated. 所述脉冲装置液压马达12作用于自激脉冲装置的底部,带动自激脉冲装置的整体转动,实现了自激振荡脉冲喷嘴13的轴向环顾喷射,所述第一液压伸缩缸15-1和第二液压伸缩缸15-2用于调整自激振荡脉冲喷嘴13喷射脉冲的角度和距离。 The hydraulic pulse motor 12 acting on the bottom of the self-excited pulse means, drive means to rotate integrally self-excitation pulse to achieve a self-oscillating pulse axial look around the injection nozzle 13, the first hydraulic telescopic cylinders 15-1 and 15-2 second hydraulic telescopic cylinders for adjusting the nozzle 13 self-oscillating pulse injection pulse angle and distance. 自激脉冲装置工作时的俯仰旋转角度为120°,水平旋转角度为120°,可以形成较大的工作覆盖面积。 Since the rotation angle of the pitch pulse laser apparatus to work for 120 °, horizontal rotation angle of 120 °, may be formed to cover a larger working area. 当遇到较坚硬的油泥时,可以通过控制伸缩梁组件的俯仰角和水平旋转角的角度变化,利用刮铲装置16实施对油罐40侧壁和底部油泥的刮铲。 When encountering harder sludge, by controlling the angle of beam assembly telescoping horizontal rotation angle and a pitch angle variation apparatus 16 by using a spatula on a spatula embodiments tank bottom 40 and side walls of the sludge.

[0094] 使用本发明对油罐40内油泥进行清洗时,首先,准备好所述油罐清洗机器人41需要外接的电动液压泵44、水箱42、惰性气体储罐4 3、螺杆泵53和油泥储放池54,在水箱42上连接用于为油罐清洗机器人41提供清洗水流的水泵45,在惰性气体储罐43上连接惰性气体传输管道46,并在惰性气体传输管道46上连接用于调节惰性气体传输管道46中惰性气体流量的惰性气体电动阀47,在螺杆泵53上连接伸入到油泥储放池54中的抽油管,并在螺杆泵53上连接伸入到油罐40底部的抽油管,且将螺杆泵53通过穿过抽油管孔37和通孔30的抽油管连接到三个清洗盘刷9的抽油管接口9-61上;接着,将三个驱动轮液压马达3、三个清洗盘刷液压马达10、脉冲装置液压马达12、第一液压伸缩缸15-1和第二液压伸缩缸15-2通过穿过通孔30的供油管路48与电动液压泵44连接,将自激振荡脉冲喷嘴上的入 [0094] When using the present invention for cleaning within the sludge tank 40, first of all, the ready tank cleaning robot 41 requires external electric pump 44, tank 42, an inert gas reservoir 43, screw 53 and sludge the storage pools 54, 42 is connected on the tank for providing purge flow to pump 45 tank cleaning robot 41, transfer conduit 46 connecting the inert gas in the inert gas storage tank 43, and connected to an inert gas delivery conduit 46 for adjusting the flow rate of the inert gas in the inert gas delivery conduit 46 of inert gas electric valve 47 connected to the sludge storage pools projects into the suction pipe 54 on the screw 53, and is connected to the tank bottom 40 extends into the screw pump 53 pumping pipe, and the screw passing through the draw tube 53 via hole 37 and the through hole of the draw tube 30 to the three disc brush cleaning smoke pipe 9 on the interface 9-61; then, the hydraulic motor 3 of the three wheels , three disc brush cleaning hydraulic motor 10, a hydraulic pulse motor 12, a first telescoping hydraulic cylinder and second hydraulic telescopic cylinders 15-1 15-2 via the supply line 30 through the through holes 48 of the electric pump 44 connecting, on the self-oscillation of the pulsed jet 水口13-3通过穿过通孔30的水管49与水泵45连接,将惰性气体传输管道46穿过通孔并连接到惰性气体喷嘴27上,其中,连接第一液压伸缩缸15-1的供油管路48上连接有第一液压控制阀38,连接第二液压伸缩缸的供油管路48上连接有第二液压控制阀39 ;然后,将电动液压泵44、水泵45、螺杆泵53、惰性气体电动阀47、第一液压控制阀38、第二液压控制阀39连接到外设的与所述控制器模块8相接并通信的另一控制器上,或者直接连接到所述控制器模块8上;最后,将所述油罐清洗机器人41放入油罐40中,通过操作人工控制模块6或智能作业模块7向所述油罐清洗机器人41发送操作指令,使所述油罐清洗机器人41在油罐40中移动工作,所述油罐清洗机器人41通过摄像头21和照明灯22找出油罐40内的油泥,首先通过自激脉冲装置对一个部位的油泥进行脉冲射流冲打或者刮铲,待油泥 13-3 outlet pipe 30 is connected to the pump 49 through the through-hole 45 by the inert gas delivery conduit through the through hole and connected to the inert gas nozzle 27, wherein connecting the first hydraulic cylinder for telescopic 4615-1 of is connected to a first hydraulic control valve 38, connected to the supply line of the second hydraulic cylinder is telescopically connected to a second hydraulic pressure control valve 39 on the oil line 48 48; then, the electric pump 44, pump 45, screw 53 , an inert gas electric valve 47, a first hydraulic pressure control valve 38, a second hydraulic pressure control valve 39 is connected to the peripheral controller module 8 and the other contact communication with the controller, or directly connected to the control the module 8; Finally, the robot 41 into the tank cleaning tank 40, the control module 6 or the artificial intelligence module 7 job cleaning robot 41 transmits an operation instruction to the tank by operating the tank washing robot 41 moves the work oil tank 40, the tank cleaning robot 41 to identify the sludge tank 40 by the camera 21 and the illuminating lamp 22, first pulsed jet of a sludge portion by means washed up the self-excited pulse or spatula until the sludge 松后用清扫装置进行深层次的刷洗,一个部位清洗干净后,人工控制油罐清洗机器人41或者油罐清洗机器人41智能移动到下一个需要清洗的部位进行清洗作业,清洗的油腻和污水可以随时通过抽油管和螺杆泵53抽出;如此,便能方便地完成对整个油罐40内油泥的清洗工作。 After release by deep scrub cleaning apparatus, a portion of the clean, manual control 41 or tank cleaning tank cleaning robot intelligent robot 41 move to the next site to be cleaned cleaning operations, the wash water at any time and oily withdrawn by pulling the tubing 53 and screw; thus, can easily complete the cleaning operation of the entire sludge tank 40.

[0095] 所述油罐清洗机器人41在进行清洗工作的过程中,所述压力传感器17可以检测到所述油罐清洗机器人41发生碰撞的情况,所述温度传感器18对油罐40内温度进行实时检测,所述红外传感器19可以感测所述油罐清洗机器人41与油罐40内壁的接近程度,所述超声波传感器20可以感测所述油罐清洗机器人41与油罐40内壁或障碍物的距离,所述水平姿态传感器31可以感测所述油罐清洗机器人41的倾角,防止发生倾倒和侧翻,浊度传感器32用于检测油罐40罐底清洁度,避免所述油罐清洗机器人41对一个区域的重复长时间清洗,摄像头21可以作为所述油罐清洗机器人41的视觉感测所述油罐清洗机器人41周围的环境,探照灯22在黑暗或光线不足的环境下提供照明,油气浓度监测仪23实时检测油罐40内油气浓度,所述控制器模块8采集压力传感器17、温度传感器18、红外传感器19 [0095] The cleaning tank 41 during the cleaning operation of the robot is performed, the pressure sensor 17 can detect the tank cleaning the robot 41 collides, the temperature sensor 18 within the oil tank 40 temperature real-time detection, the infrared sensor 19 can sense the oil tank 40 and the inner wall of the washing robot 41 the proximity of the tank, the ultrasonic sensor 20 may sense the washing robot 41 and the tank inner wall of the tank 40 or an obstacle distance, the horizontal posture sensor 31 may sense the inclination of the cleaning tank 41 of the robot, and to prevent dumping rollover, turbidity sensor 32 for detecting the cleanliness of the tank bottom of the tank 40, the tank cleaning to avoid robot 41 was repeated one time cleaning area, the camera 21 can be used as the visual sense of the tank cleaning tank 41 of the cleaning robot 41 environment around the robot, the searchlight 22 to provide illumination in the dark or low light conditions, hydrocarbon concentration monitor 23 in real time and gas concentration detection tank 40, the controller module 8 acquisition pressure sensor 17, temperature sensor 18, infrared sensor 19 、超声波传感器20、水平姿态传感器31、浊度传感器32、摄像头21和油气浓度监测仪23所检测到的信号并进行分析处理后对所述油罐清洗机器人41的清洗作业进行控制。 , An ultrasonic sensor 20, the horizontal posture sensor 31, after 32, 21 and camera signal hydrocarbon concentration monitor 23 detected by the turbidity sensor and the evaluation cleaning tank cleaning job the robot 41 is controlled. 具体地,通过协调三个驱动轮液压马达3的驱动方式可以实现所述油罐清洗机器人41的全向移动,使所述油罐清洗机器人41工作移动灵活,当控制其中任意两个驱动轮4的转速同步时,所述油罐清洗机器人41将沿着另外一个驱动轮4的轴线方向直线行走移动,当控制三个驱动轮4同时同速顺时针或逆时针转动时,可以实现所述油罐清洗机器人41沿其几何中心的原地旋转;通过控制三个清洗盘刷液压马达10,能够根据作业需要和油泥的特点调节清洗盘刷9的转速和力矩的大小;通过控制脉冲装置液压马达12的转动,能够改变自激振荡脉冲喷嘴13的作业位置和方向,所述控制器模块8还可以根据油气浓度监测仪23所检测到的油罐40内的油气浓度,调节惰性气体电动阀47的开度,控制惰性气体的通入,当油气浓度监测仪23检测到油罐40内的安全系数不满足要求时,加大惰 Specifically, three coordinated manner by the drive wheels of the hydraulic motor 3 may be implemented to move the whole robot cleaning tank 41, the tank cleaning work robot 41 can move freely, wherein the control when any two drive wheels 4 the rotational speed synchronization, the tank cleaning robot 41 to move linearly along the axial direction of travel a further drive wheel 4 of the drive wheel 4 when the control three simultaneously revolve clockwise or counterclockwise, the oil can be achieved situ tank cleaning robot 41 along the geometric center of rotation; brush hydraulic motor 10, it is possible to adjust the size of the torque and the rotational speed of the cleaning pan 9 by controlling the three brush cleaning disc according to the characteristics of the job needs and sludge; means the hydraulic motor by controlling the pulse 12 is rotated, the position and orientation can be changed operation the self-oscillating pulse nozzle 13, the controller module may further 8 oil concentration in the oil and gas concentration monitor 23 detected by the oil tank 40, the electric valve 47 regulating the inert gas the degree of opening, the inert gas into the control, when the safety factor in the oil and gas concentration monitor 23 detects that the tank 40 does not meet the requirements, increasing idler 气体的通入量,通过惰性气体喷嘴27及时地补充保护性惰性气体,确保所述油罐清洗机器人41长时间工作的准确、稳定和安全。 The amount of gas fed through the inert gas nozzle 27 timely replenishment of protective inert gas, the tank cleaning to ensure accuracy, stability and safety of the work robot 41 long.

[0096]为了在所述油罐清洗机器人41移动工作时,使供油管路48、水管49和惰性气体传输管道46能够井然有序地排布,可以设置一个软管线缆卷筒50,并在软管线缆卷筒50上连接一个用于带动软管线缆卷筒50转动的卷筒电机52,在需要缠绕到软管线缆卷筒50的位置处,将供油管路48、水管49、惰性气体传输管道46和抽油管集中起来并装在一个粗管中,缠绕在软管线缆卷筒50上并穿过通孔与所述油罐清洗机器人41中的各部件连接,将卷筒电机52通过导电电缆51连接到外设的与所述控制器模块8相接并通信的另一控制器上,或者直接通过导电电缆51连接到所述控制器模块8上,根据实际需要控制卷筒电机52带动软管线缆卷筒50转动,调整供油管路48、水管49、惰性气体传输管道46和导电电缆51的长度,以免影响所述油罐清洗机器人41的移动和工作。 [0096] In order to clean the working robot 41 is moved in the tank, so that fuel supply pipe 48, pipes 49 and inert gas transfer conduit 46 can be orderly arranged, the hose may be provided a cable reel 50, and the hose is connected to the cable reel 50 for driving the hose drum motor 52 rotates the cable spool 50 in the required position the hose is wound onto a cable reel 50, the supply line 48 , pipe 49, an inert gas delivery duct 46 and the suction pipe together and encased in a thick tube, the cable wound on the hose reel 50 and passes through the through hole of each member of the tank cleaning robot 41 is connected the drum motor 52 is connected to peripherals via the conductive cable 51 in contact with the controller module 8 and the other communication with the controller, or directly through a conductive cable 51 to the controller module 8, according to need to control the drum motor 52 actually drives a cable spool 50 rotates hose, adjusting the supply line 48, pipe 49, an inert gas delivery duct 46 and the length of the conductive cable 51, so as not to affect the movement of the tank cleaning robot 41 and work.

[0097] 以上所述,仅是本发明的较佳实施例,并非对本发明作任何限制,凡是根据本发明技术实质对以上实施例所作的任何简单修改、变更以及等效结构变化,均仍属于本发明技术方案的保护范围内。 [0097] The above are only preferred embodiments of the present invention, not any limitation of the present invention, any simple modification according to any of the technical spirit of the present invention made of the foregoing embodiments, changes and equivalents structural changes, fall within the scope of the technical solution of the present invention.

Claims (10)

1. 一种油罐清洗机器人,其特征在于:包括机体、行走单元、清洗单元、控制单元和传感通讯单元,以及用于为所述行走单元、清洗单元、控制单元和传感通讯单元供电的供电单元; 所述机体包括底板(I)、固定连接在底板(I)上方的下壳体(2-1)和固定连接在下壳体(2-1)上方的上壳体(2-2); 所述行走单元包括三个驱动轮(4)和分别用于驱动三个驱动轮(4)的三个驱动轮液压马达(3),三个所述驱动轮(4)呈等边三角形地嵌入安装在所述底板(I)上,三个所述驱动轮液压马达(3)呈等边三角形地布设在所述底板(I)上,所述驱动轮(4)与所述驱动轮液压马达(3)的输出轴相接,所述驱动轮(4)的上方套装有与所述底板(I)连接且用于防止油泥污水进入到所述下壳体(2-1)内的挡水板(5); 所述清洗单元由清扫装置和自激脉冲装置构成,所述清扫装置包括三个清 A tank cleaning robot comprising: a body, traveling unit, washing unit, the communication control unit and the sensing unit, and for said traveling unit, washing unit, the control unit and the sensing power supply communication unit the power supply unit; the body comprises a base plate (I), the bottom plate is fixedly connected to the housing (I) above the lower housing (2-1) and fixedly connected to the lower case (2-1) above (2-2 ); the unit comprises three traveling wheels (4), respectively, and for driving the three wheels (4) of the three wheels of the hydraulic motor (3), said three drive wheels (4) arranged in an equilateral triangle embedded mounted on the base plate (I), three of said drive wheel hydraulic motor (3) equilateral triangularly arranged on the base plate (I), the drive wheel (4) and the drive wheels the hydraulic motor (3) in contact with an output shaft, said drive wheel (4) set above the connection to the base plate (I) for preventing and sewage sludge into the lower housing (2-1) in the flap (5); said cleaning means comprises a cleaning device and a self-excited pulse device, the cleaning device comprises three cleaning 盘刷(9)和分别用于带动三个清洗盘刷(9)转动的三个清洗盘刷液压马达(10),三个所述清洗盘刷(9)呈等边三角形地布设在所述底板(I)下方,三个所述清洗盘刷液压马达(10)呈等边三角形地嵌入安装在所述底板(I)上,所述清洗盘刷(9)与所述清洗盘刷液压马达(10)的输出轴相接;所述自激脉冲装置包括伸缩梁组件、与伸缩梁组件一端连接且用于带动伸缩梁组件转动的脉冲装置液压马达(12)和与伸缩梁组件另一端连接且用于喷射脉冲的自激振荡脉冲喷嘴(13),所述脉冲装置液压马达(12)安装在下壳体(2-1)内且与下壳体(2-1)固定连接; 所述控制单元由远程控制部分和机体控制部分构成,所述远程控制部分包括人工控制模块(6)和智能作业模块(7),所述人工控制模块(6)包括依次相接的示教操纵板(6-1)、第一处理器模块(6-2)和第一I/O接口(6-3),所 Disc brush (9) and are used to drive three cleaning disc brush (9) rotating the disc brush washing three hydraulic motor (10), (9) the form of three disc brush cleaning laid in an equilateral triangle to the bottom plate (I), the three hydraulic motor brush cleaning disc (10) arranged in an equilateral triangle embedded mounted on the base plate (I), the cleaning disc brush (9) and the hydraulic motor disc brush cleaning (10) in contact with an output shaft; said apparatus comprises a self-excited pulse telescoping beam assembly, with one end connected telescoping beam assembly and the hydraulic motor means for driving the pulse rotatable telescoping beam assembly (12) and the other end is connected with the telescoping beam assembly and the self-oscillation pulse nozzle (13) for the injection pulse, the pulse hydraulic motor means (12) mounted on the lower housing and fixedly connected to the lower housing (2-1) of (2-1); wherein the control unit control portion is constituted by a remote control and the body portion, said control portion comprises a remote manual control module (6) and intelligent work modules (7), the manual control module (6) comprises a teaching actuating plate (6 sequentially contacting -1), a first processor module (6-2) and a first I / O interface (6-3), the 智能作业模块(7)包括依次相接的数据存储器(7-1)、第二处理器模块(7-2)和第二I/O接口(7-3);所述机体控制部分包括控制器模块(8)和与所述控制器模块(8)相接的第三I/O接口(33),所述控制器模块(8)的输出端接有用于驱动驱动轮液压马达(3)的第一液压马达驱动器(34)、用于驱动清洗盘刷液压马达(10)的第二液压马达驱动器(35)和用于驱动脉冲装置液压马达(12)的第三液压马达驱动器(36),所述驱动轮液压马达(3)与第一液压马达驱动器(34)的输出端相接,所述清洗盘刷液压马达(10)与第二液压马达驱动器(35)的输出端相接,所述脉冲装置液压马达(12)与第三液压马达驱动器(36)的输出端相接,所述第一I/O接口(6-3)和第二I/O接口(7-3)均与第三I/O接口(33)相接; 所述传感通讯单元包括用于对所述油罐清洗机器人(41)发生碰撞进行检测的压力传感器 Intelligent work modules (7) comprises a data memory sequentially in contact (7-1), the second processor module (7-2) and a second I / O interface (7-3); the body control section includes a controller module (8) and said controller module (8) in contact with the third I / O interface (33), the controller module (8) for driving the output end of the drive wheel hydraulic motor (3) a first hydraulic motor (34) for driving the disc brush cleaning hydraulic motor (10) drives a second hydraulic motor (35) and the third hydraulic motor driving pulses for driving the hydraulic motor means (12) (36), the drive wheel hydraulic motor (3) with a first hydraulic motor (34) in contact with the output end of the hydraulic motor brush cleaning disc (10) in contact with the output end of the second hydraulic motor driver (35), the pulse said hydraulic motor (12) and the third hydraulic motor (36) in contact with the output terminal, the first I / O interface (6-3) and a second I / O interface (7-3) and were the third I / O interface (33) in contact; said communication unit comprises means for sensing the tank cleaning robot (41) for detecting a collision pressure sensor 17)、用于对油罐(40)内温度进行检测的温度传感器(18)、用于感测所述油罐清洗机器人(41)与油罐(40)内壁接近程度的红外传感器(19)、用于感测所述油罐清洗机器人(41)与油罐(40)内壁或障碍物距离的超声波传感器(20)、用于感测所述油罐清洗机器人(41)倾角的水平姿态传感器(31)、用于检测油罐(40)罐底清洁度的浊度传感器(32)、用于感测所述油罐清洗机器人(41)周围环境的摄像头(21)、用于照明的探照灯(22)和用于检测油罐(40)内油气浓度的油气浓度监测仪(23),所述压力传感器(17)、红外传感器(19)和超声波传感器(20)均安装在所述下壳体(2-1)的外壁上,所述水平姿态传感器(31)和浊度传感器(32 )均安装在所述底板(I)的底端,所述温度传感器(18 )安装在所述上壳体(2-2 )内部,所述摄像头(21)、探照灯(22)和油气浓度监测仪(23)均安装 17) for the tank (40) for the temperature detected by the temperature sensor (18), for sensing the tank cleaning robot (41) and the tank (40) of the inner wall of the proximity of the infrared sensor (19) , for sensing the tank cleaning robot (41) and the tank (40) from the inner wall or the obstacle ultrasonic sensor (20), for sensing the tank cleaning robot (41) in a horizontal posture inclination sensor (31) for detecting a tank (40) bottom of the tank cleanliness turbidity sensor (32), for sensing the tank cleaning robot (41) surrounding the camera (21), for the searchlight illumination (22) for detecting tank (40) within the oil and gas concentration concentration monitor (23), said pressure sensor (17), an infrared sensor (19) and ultrasonic sensors (20) are mounted on the lower case an outer wall of the body (2-1), the level posture sensor (31) and the turbidity sensor (32) are mounted on the bottom end of the base plate (I), said temperature sensor (18) mounted on said case (2-2) inside said camera (21), a searchlight (22) and the hydrocarbon concentration monitor (23) are mounted 所述上壳体(2-2)的上部;所述压カ传感器(17)、温度传感器(18)、红外传感器(19)、超声波传感器(20)、水平姿态传感器(31)、浊度传感器(32)、摄像头(21)和油气浓度监测仪(23)均与所述控制器模块(8)的输入端相接。 An upper portion of the upper case (2-2); ka said pressure sensor (17), a temperature sensor (18), an infrared sensor (19), an ultrasonic sensor (20), the horizontal posture sensor (31), a turbidity sensor (32), the camera (21) and the hydrocarbon concentration monitor (23) are connected with the controller module (8) of the input contact.
2.按照权利要求I所述的ー种油罐清洗机器人,其特征在于:所述上壳体(2-2)的上部设置有球状壳体(2-3),所述油气浓度监测仪(23)设置在所述球状壳体(2-3)的表面上,所述摄像头(21)和探照灯(22 )均设置在所述球状壳体(2-3 )内且外露在所述球状壳体(2-3 )的表面上,所述球状壳体(2-3)内还设置有工作状态指示灯(24)和蜂鸣器(25),所述工作状态指示灯(24)和蜂鸣器(25)均外露在所述球状壳体(2-3)的表面上,所述工作状态指示灯(24)和蜂鸣器(25)均与所述控制器模块(8)的输出端相接。 2. I according to claim ー seed tank cleaning robot, characterized in that: said upper housing (2-2) is provided with a spherical case (2-3), the hydrocarbon concentration monitor ( 23) provided on the surface of the spherical housing (2-3), the camera (21) and searchlights (22) are disposed within the spherical case (2-3) exposed in said spherical shell and the upper surface of the body (2-3), provided within said spherical housing (2-3) with a working status indicator (24) and a buzzer (25), said operation indicator (24) and bee buzzer (25) are exposed on the surface of the spherical housing (2-3), the operating state indicator (24) and a buzzer (25) are the output of the controller module (8) end contact.
3.按照权利要求I所述的ー种油罐清洗机器人,其特征在于:所述机体外轮廓的形状为圆柱形,所述上壳体(2-2)的上部对称安装有两个提手(28),所述上壳体(2-2)的上部设置有用于安装所述供电単元的电源盒(26),所述上壳体(2-2)的侧壁上开有检修孔,所述检修孔处安装有检修孔盖(29),位于所述检修孔斜上方的上壳体(2-2)上设置有通孔(30),所述上壳体(2-2)的上部对称安装有两个用于向油罐(40)内补充保护性惰性气体的惰性气体喷嘴(27)。 3. A tank according to claim I of the species ー cleaning robot, wherein: the shape of the outer contour of the body is cylindrical, the upper part of the housing (2-2) is fitted with two symmetrical handles (28), an upper portion of the upper case (2-2) is provided for mounting the power supply box radiolabeling element (26), said upper opening with a manhole on the side wall of the housing (2-2), the manhole is mounted on the housing at a manhole cover (29), positioned obliquely above the access hole (2-2) is provided with a through hole (30), said upper housing (2-2) the upper portion has two symmetrically inert gas nozzle (27) for the inner tank (40) complementary protective inert gas.
4.按照权利要求I所述的ー种油罐清洗机器人,其特征在于:所述驱动轮(4)由轮架(4-1)和并排设置在所述轮架(4-1)上的两圈辊子(4-2)构成,所述辊子(4-2)由钢制骨架(4-21)和包裹在所述钢制骨架(4-21)外的软橡胶(4-22)构成,所述软橡胶(4_22)上布设有多个凹腔室(4-23)。 4. A tank according to claim I of the species ー cleaning robot, characterized in that: the drive wheel (4) by the wheel carrier (4-1) arranged side by side and on the wheel carrier (4-1) twice rollers (4-2), and the rollers (4-2) are made of steel skeleton (4-21) and wrapping soft rubber outside the steel skeleton (4-21) is (4-22) configured the soft rubber (4_22) laid on a plurality of recessed chambers (4-23).
5.按照权利要求I所述的ー种油罐清洗机器人,其特征在于:所述清洗盘刷(9)由与所述清洗盘刷液压马达(10)的输出轴相接的刷杆、连接在刷杆底端的刷盘(9-2)和设置在刷盘(9-2)下表面上的多簇刷毛(9-3)构成。 5. A tank according to claim I of the species ー cleaning robot, characterized in that: said brush cleaning brush bar disc (9) is engaged by the output shaft of the hydraulic motor brush cleaning disc (10) connected the brush plate (9-2) at the bottom end of the brush rod and the brush plate is provided (9-2) multi tufts on the lower surface (9-3) configured.
6.按照权利要求5所述的ー种油罐清洗机器人,其特征在于:多簇所述刷毛(9-3)在所述刷盘(9-2)下表面上呈螺旋多角星形分布,所述刷毛(9-3)的长度从所述刷盘(9-2)的外围到所述刷盘(9-2)的中心逐渐减小,所述刷毛(9-3)由钢丝软轴和包裹在所述钢丝软轴表面的聚こ烯层构成。 6. A tank according to claim 5, wherein the seed ー washing robot, wherein: said tufts of bristles (9-3) the brush plate (9-2) in a spiral on the lower surface of the distribution of multi-pointed star, the length of the bristles (9-3) from the periphery of the brush disc (9-2) to the brush plate (9-2) is gradually reduced in the center, the bristle (9-3) by a flexible shaft wire configuration and wrapped in a layer of poly-ene ko flexible shaft wire surface.
7.按照权利要求5或6所述的ー种油罐清洗机器人,其特征在于:所述刷盘(9-2)的中心一体成型有向上伸出的套管(9-4),所述刷毛(9-3)的中心设置有与所述套管(9-4)相配合且供油罐(40)内的油泥和污水通过的抽吸孔(11),所述刷杆包括与所述清洗盘刷液压马达(10)的输出轴相接的条杆(9-1)和设置在所述条杆(9-1)底端且用于固定连接所述套管(9-4)的连杆(9-5),所述条杆(9-1)上套装有顶端与所述底板(I)固定连接的套筒(9-6),所述套筒(9-6)的侧壁上设置有用于连接抽油管的抽油管接ロ(9-61),所述套筒(9-6)的上部安装有用于安装所述条杆(9-1)的第一轴承(9-9),位于所述第一轴承(9-9)下方的套筒(9-6)内安装有第一油封(9-10),所述套筒(9-6)的下部安装有用于安装所述套管(9-4)的第二轴承(9-7),位于所述第二轴承(9-7)上方的套筒(9-6)内安装有第二油封 7. A tank according to claim 5 ー species washing robot or 6, characterized in that: the center of the brush plate (9-2) is integrally formed with a sleeve (9-4) projecting upwardly, the center bristles (9-3) is provided with a suction hole (11) through the sludge and wastewater within the sleeve (9-4) and for cooperating tank (40), and said brush rod comprising the said cleaning disc brush hydraulic motor (10) in contact with the output shaft of the bar (9-1) and the bar is provided in the (9-1) and a bottom end fixedly connected to the sleeve (9-4) link (9-5), the bar of the (9-1) on a sleeve set (9-6) to the top of the base plate (I) is fixedly connected to the sleeve (9-6) is tubing is provided for connecting the suction tubing connected ro evacuated (9-61), an upper portion of the sleeve (9-6) is attached to the first bearing (9 bar for mounting the strip (9-1) on a side wall -9), located between the first bearing (9-9) beneath the inner sleeve (9-6) is fitted with a first oil seal (9-10), a lower portion of said sleeve (9-6) is mounted for a second bearing (9-7) of said mounting sleeve (9-4) is located between the second bearing (9-7) above the inner sleeve (9-6) is attached to the second oil seal (9-8),所述底板(I)上设置有供抽油管穿过的抽油管孔(37)。 (9-8), the base plate (I) is provided on the suction pipe with a supply pipe through which the suction hole (37).
8.按照权利要求I所述的ー种油罐清洗机器人,其特征在于:所述自激振荡脉冲喷嘴(13)包括谐振腔室(13-1)和设置在谐振腔室(13-1)内部且用于将谐振腔室(13-1)内部空间分隔为三个谐振腔的三叶轮(13-2),所述谐振腔室(13-1)的顶端中心位置处设置有用于将水流分向三个谐振腔的入水口(13-3),所述谐振腔室(13-1)的底端设置有三个分别与三个所述谐振腔室(13-1)相配合的出水口( 13-4)。 8. The I according to claim ー seed tank cleaning robot, characterized in that: the self-oscillating pulse nozzle (13) comprises a resonant chamber (13-1) and arranged in the resonance chamber (13-1) and resonant cavity for inner chamber (13-1) to partition the inner space of three resonator three impeller (13-2), at the top center position of the resonant chamber (13-1) is provided with means for water divided into three inlet resonator (13-3), the bottom end of said resonance chamber (13-1) is respectively provided with three chambers of the three resonator (13-1) cooperating outlet (13-4).
9.按照权利要求I所述的一种油罐清洗机器人,其特征在于:所述自激振荡脉冲喷嘴(13)的上方安装有与所述伸缩梁组件连接且用于对油罐(40)内壁和底部的油泥进行刮铲的刮铲装置(16)。 9. A tank according to claim I of the demand for a cleaning robot, wherein: the connection with the self-telescoping beam assembly for mounting the upper and pulse-oscillating nozzle (13) to the tank (40) and the inner wall of the bottom sludge is spatula means (16) of the spatula.
10.按照权利要求I或9所述的一种油罐清洗机器人,其特征在于:所述伸缩梁组件包括第一伸缩梁(14-1 )、与所述第一伸缩梁(14-1)铰接的第二伸缩梁(14-2)和与所述第二伸缩梁(14-2)铰接的第三伸缩梁(14-3),所述第一伸缩梁(14-1)的底端固定连接有转盘(14-4),所述转盘(14-4)连接在所述脉冲装置液压马达(12)的输出轴上,所述第二伸缩梁(14-2)与所述脉冲装置液压马达(12)之间连接有第一液压伸缩缸(15-1 ),所述第二伸缩梁(14-2)与所述第三伸缩梁(14-3)之间连接有第二液压伸缩缸(15-2),所述自激振荡脉冲喷嘴(13)与所述第三伸缩梁(14-3)的端部固定连接;所述控制器模块(8)的输出端接有用于控制第一液压伸缩缸(15-1)伸缩的第一液压控制阀(38)和用于控制第二液压伸缩缸(15-2)伸缩的第二液压控制阀(39),所述第一液压控制阀(38)接在第一液压伸 10. The tank as claimed in claim I or one of the washing robot 9, wherein: said telescoping beam assembly comprises a first telescopic beam (14-1), the first telescopic beam (14-1) the bottom end of a second articulated telescopic beams (14-2) with the second telescopic beam (14-2) a third articulated telescopic beams (14-3), the first telescopic beam (14-1) of fixedly connected turntable (14-4), said turntable (14-4) connected to the output shaft of the hydraulic motor pulse means (12), the second telescopic beam (14-2), and said pulsing means a telescopic hydraulic cylinder connected to a first (15-1) between the hydraulic motor (12), the second telescopic beam (14-2) and the third beam with a telescopic hydraulic connection between the second (14-3) connected telescopic cylinder (15-2), the self-oscillating pulse nozzle (13) is fixedly connected to the third telescopic beams (14-3) ends; the controller module (8) for the output termination controlling the first hydraulic telescopic cylinders (15-1) of the first telescopic hydraulic control valve (38) and a second hydraulic pressure control of the second hydraulic telescopic cylinder (15-2) telescoping control valve (39), said first hydraulic control valve (38) connected to the first hydraulic extension 缸(15-1)的供油管路上,所述第二液压控制阀(39)接在第二液压伸缩缸(15-2)的供油管路上。 A cylinder (15-1) of the supply pipe of the second hydraulic control valve (39) connected to the second hydraulic telescopic cylinders (15-2) of the feed pipe path.
CN 201210284715 2012-08-12 2012-08-12 Oil tank cleaning robot CN102764750B (en)

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CN105082153A (en) * 2015-09-01 2015-11-25 江苏新光数控技术有限公司 Large intelligent sweeping robot
CN105215038A (en) * 2015-11-17 2016-01-06 北京石油化工学院 Umbilical cable reeling and unreeling device for oil storage tank cleaning robot
CN105290931A (en) * 2015-10-28 2016-02-03 江苏基业信息技术有限公司 Storage tank wall maintenance robot and control system thereof
CN105381978A (en) * 2015-11-27 2016-03-09 全椒县新华机械有限责任公司 Automatic cleaning control equipment for diesel engine air cylinder heads
CN105881589A (en) * 2016-06-24 2016-08-24 苏州博众精工科技有限公司 Disc-shaped protecting cover device for manipulator
CN106623275A (en) * 2016-12-20 2017-05-10 武汉大学 Fouling cleaning device and method for supercritical carbon dioxide pulse jet flow oil pipe
CN106813707A (en) * 2015-11-30 2017-06-09 中国科学院沈阳自动化研究所 Parameter measurement system for externally-driven moving body
CN106965148A (en) * 2017-03-23 2017-07-21 武汉理工大学 Full-automatic washing device
CN106988368A (en) * 2017-03-30 2017-07-28 河海大学常州校区 Hydraulic-driven underwater building cleaning system and method
WO2017161592A1 (en) * 2016-03-22 2017-09-28 深圳市百事达卓越科技股份有限公司 Reforming method for oil tank
CN107380776A (en) * 2017-07-25 2017-11-24 李奇元 Oil storage tank bottom surface cleaning equipment and oil storage tank comprising same

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Cited By (14)

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CN104354634A (en) * 2014-11-11 2015-02-18 周庆忠 Multifunctional patrol check vehicle for tar depot area
CN104941970A (en) * 2015-05-22 2015-09-30 西南大学 Wine tank cleaning device
CN105082153A (en) * 2015-09-01 2015-11-25 江苏新光数控技术有限公司 Large intelligent sweeping robot
CN105290931B (en) * 2015-10-28 2017-07-07 江苏基业信息技术有限公司 Tank wall of one kind of maintenance robot and its control system
CN105290931A (en) * 2015-10-28 2016-02-03 江苏基业信息技术有限公司 Storage tank wall maintenance robot and control system thereof
CN105215038A (en) * 2015-11-17 2016-01-06 北京石油化工学院 Umbilical cable reeling and unreeling device for oil storage tank cleaning robot
CN105381978A (en) * 2015-11-27 2016-03-09 全椒县新华机械有限责任公司 Automatic cleaning control equipment for diesel engine air cylinder heads
CN106813707A (en) * 2015-11-30 2017-06-09 中国科学院沈阳自动化研究所 Parameter measurement system for externally-driven moving body
WO2017161592A1 (en) * 2016-03-22 2017-09-28 深圳市百事达卓越科技股份有限公司 Reforming method for oil tank
CN105881589A (en) * 2016-06-24 2016-08-24 苏州博众精工科技有限公司 Disc-shaped protecting cover device for manipulator
CN106623275A (en) * 2016-12-20 2017-05-10 武汉大学 Fouling cleaning device and method for supercritical carbon dioxide pulse jet flow oil pipe
CN106965148A (en) * 2017-03-23 2017-07-21 武汉理工大学 Full-automatic washing device
CN106988368A (en) * 2017-03-30 2017-07-28 河海大学常州校区 Hydraulic-driven underwater building cleaning system and method
CN107380776A (en) * 2017-07-25 2017-11-24 李奇元 Oil storage tank bottom surface cleaning equipment and oil storage tank comprising same

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