CN112354992A - Explosion-proof type cleaning robot of tank bottom residual oil of horizontal tank wagon - Google Patents
Explosion-proof type cleaning robot of tank bottom residual oil of horizontal tank wagon Download PDFInfo
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- CN112354992A CN112354992A CN202011121493.6A CN202011121493A CN112354992A CN 112354992 A CN112354992 A CN 112354992A CN 202011121493 A CN202011121493 A CN 202011121493A CN 112354992 A CN112354992 A CN 112354992A
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- oil
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- oil scraping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/083—Removing scrap from containers, e.g. removing labels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
Abstract
The invention discloses an explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank wagon, which comprises a main machine body, a driving system module, an oil scraping device and an oil discharging port detection device, wherein the main machine body is provided with a main machine body; the oil scraping device is arranged at the end part of the main machine body, the driving system module is arranged on the main machine body, and the oil discharge port detection device is arranged at the bottom of the main machine body; the main machine body and the driving system module are both sealing structures; the invention has good sealing performance and can prevent explosion in a dangerous oil-gas mixed working environment; the oil discharge port detection device is stable, and the detection effect of the oil discharge port detection device cannot be influenced by oil stains; the motor is arranged outside the main machine body to lift the chassis, so that the influence of residual oil buoyancy on the robot can be avoided during operation; the four-wheel drive configuration mode is suitable for the internal environment of the oil tank, can realize pivot turning, meets the relevant requirements of the residual oil cleaning robot, and has the advantages of low cost, function compatibility and simple assembly.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank truck.
Background
The oil storage tank is used as an important tool for transporting and storing petrochemical products and is widely applied to each link in the circulation process. The oil tank inevitably has a series of problems such as corrosion leakage. With the increase of service life, the inside of the oil tank is corroded, the problems of deformation, uneven settlement, aging of a heating coil in the tank, unsmooth drainage pipeline and the like can occur, accidents such as perforation, leakage, explosion and the like can often occur, and particularly disastrous accidents such as fire, explosion and the like can be caused once the tank wall is corroded and broken in a high-pressure state.
In order to ensure the oil quality in the tank and the oil safety of various vehicles and equipment, the oil tank needs to be cleaned. At present, the cleaning method of the domestic oil tank truck is mainly manual cleaning, but with the industrial development, the machine automation gradually replaces manual operation. The oil tank cleaning robot is an important tool for improving the working efficiency, the cleaning quality of the oil tank and the working environment of workers. The application of the robot technology in oil tank cleaning is still in the development stage, the existing oil tank cleaning robot has poor sealing performance, and can not prevent explosion in a dangerous oil-gas mixed working environment.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that the explosion-proof cleaning robot for the residual oil at the tank bottom of the horizontal tank truck comprises a main machine body, a driving system module, an oil scraping device and an oil discharging port detection device; the oil scraping device is arranged at the end part of the main machine body, the driving system module is arranged on the main machine body, and the oil discharge port detection device is arranged at the bottom of the main machine body; the main machine body and the driving system module are both sealing structures.
Preferably, the drive system module comprises a robot drive device; the robot driving device is installed at the bottom of the main box body and comprises four explosion-proof driving blocks, one DC brushless motors are arranged in the explosion-proof driving blocks to drive, one wheel is correspondingly arranged in each explosion-proof driving block, and the four wheels are respectively fixedly arranged at the bottom of the main box body through the explosion-proof driving blocks so as to form four-wheel drive.
Preferably, the driving system module comprises an oil scraping driving device, the oil scraping driving device is arranged corresponding to the oil scraping device and comprises an explosion-proof driving block and a scraper driving assembly, and the explosion-proof driving block is fixedly arranged on the main box body and is connected with the oil scraping device through the scraper driving assembly.
Preferably, the explosion-proof driving block comprises a transmission shaft, a fixed seat, a sealing part and a sealing cover, the direct current brushless motor and the sealing cover are both fixedly arranged on the fixed seat, the sealing cover and the fixed seat form a sealed inner cavity, the direct current brushless motor is arranged in the sealed inner cavity, the fixed seat is provided with a transmission hole, the transmission shaft is in transmission connection with the direct current brushless motor through the transmission hole, and the sealing part is arranged in the transmission hole; the fixing seat is fixedly arranged on the main box body and is connected with the wheels or the scraper driving assembly through the transmission shaft.
Preferably, the main machine body comprises a main box body and a sealing cover, a seam allowance is arranged at a fixed connection position between the sealing cover and the main box body, a sealing groove is arranged on the seam allowance, and a silica gel sealing gasket is arranged on the sealing groove; the oil scraping device is provided with a scraper corresponding to the sealing cover, and the scraper is in driving connection with the sealing cover through the scraper driving assembly.
Preferably, the scraper driving assembly comprises a sliding rail, a sliding block, a rack and a gear, the sliding rail and the rack are fixedly arranged on the scraper, the sliding block is fixedly arranged on the sealing cover, the gear is connected with the explosion-proof driving block fixedly arranged on the sealing cover, the sliding block is movably connected on the sliding rail, and the rack is meshed with the gear.
Preferably, the scraper comprises an oil scraping mounting plate, a pressing plate and an oil scraping soft plate; the oil scraping mounting plate is made of a PA66 nylon plate, the oil scraping soft plate is a silica gel plate, the bottom of the oil scraping soft plate is arc-shaped, the oil scraping soft plate is fixed between the oil scraping mounting plate and the pressing plate, and the oil scraping soft plate is fixed at the lower end of the oil scraping mounting plate.
Preferably, the oil scraping mounting plate is provided with a limiting groove corresponding to the sliding rail, the sliding rail is fixedly connected in the limiting groove, and the sliding block can move in the limiting groove along the extending direction of the sliding rail.
Preferably, a Hall sensor induction magnet is arranged on the oil scraping mounting plate, a Hall limiting sensor is arranged on the sealing cover, the Hall limiting sensor and the Hall sensor induction magnet are correspondingly arranged, and the Hall sensor induction magnet is arranged between the two Hall limiting sensors.
Preferably, the oil discharge port detection device comprises a detection rod, a Hall detection sensor induction magnet, a support cross rod and a support seat; the supporting seat is fixedly arranged at the bottom of the main box body, the detection rod is fixedly arranged on the supporting seat through the supporting cross rod and can rotate around the supporting cross rod, the Hall detection sensor induction magnet is arranged at the end part, close to the main box body 1, of the detection rod, and the Hall detection sensor is arranged on the main box body and corresponds to the Hall detection sensor induction magnet; the length of the rod body between the end part of the detection rod far away from the main box body and the supporting cross rod is larger than the vertical distance from the supporting cross rod to the bottom of the wheel.
Compared with the prior art, the invention has the beneficial effects that: the explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank wagon has good sealing property and can prevent explosion in a dangerous oil-gas mixed working environment; the oil discharge port detection device is stable, and the detection effect of the oil discharge port detection device cannot be influenced by oil stains; the motor is arranged outside the main machine body to lift the chassis, so that the influence of residual oil buoyancy on the robot can be avoided during operation; the four-wheel drive configuration mode is suitable for the internal environment of the oil tank, can realize pivot turning, meets the relevant requirements of the residual oil cleaning robot, and has the advantages of low cost, function compatibility and simple assembly.
Drawings
FIG. 1 is a structural view of an explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank wagon;
FIG. 2 is an exploded structural view of the explosion-proof cleaning robot for residual oil at the tank bottom of the horizontal tank wagon;
FIG. 3 is a structural view of the explosion-proof driving block;
FIG. 4 is a structural view of the main body;
FIG. 5 is a structural view of the squeegee drive assembly;
fig. 6 is a detection schematic diagram of the oil discharge port detection device;
fig. 7 is a structural view of the oil discharge port detecting device.
The figures in the drawings represent:
1-a main body; 2-a front scraper; 3-rear scraping plate; 4-oil scraping driving device; 5-oil discharge port detection device; 6-robot drive means; 7-an infrared sensor; 8-Hall limit sensor; 11-a hanging ring mounting hole; 12-a data transmission antenna lead-out hole; 13-power switch mounting holes; 14-blind holes; 15-a charge hole; 16-motor output shaft hole of oil scraping driving device; 17-a seal groove; 18-square groove; 19-infrared sensor mounting holes; 110-front sealing cover; 111-rear sealing cover; 112-a main box body; 21-oil scraping soft board; 22-a slide block; 23-a limiting groove; 24-a slide rail; 25-hall sensor sensing magnet; 26-oil scraping mounting plate; 27-a rack; 28-gear; 29-a platen; 61-a drive shaft; 62-a fixed seat; 63-a dc brushless motor; 64-a sealing cover; 65-a seal; 51-hall detection sensor; 52-a detection rod; 53-hall detection sensor induction magnet; 54-a support base; 55-support cross bar.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1 and 2, fig. 1 is a structural view of an explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank wagon; FIG. 2 is an exploded structural view of the explosion-proof cleaning robot for residual oil at the tank bottom of the horizontal tank wagon; the invention discloses an explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank wagon, which comprises a main machine body 1, a driving system module, an oil scraping device, an oil discharging port detection device 5 and a sensing device. The oil scraping device is arranged at the end part of the main machine body 1, the driving system module is arranged on the main machine body 1, the sensing device corresponds to the oil scraping device and the oil discharging port detection device 5, and the oil discharging port detection device 5 is arranged at the bottom of the main machine body 1. The main machine body 1 and the driving system module are both in a sealed design.
The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank wagon has the advantages of strong balance, strong anti-overturning capability, general requirements on the operating environment, strong bearing capability and stable comprehensive performance. The robot can be flexibly moved and has a small turning radius. The oil tank turning device is suitable for the internal environment of the oil tank, can realize in-situ turning, and meets the relevant requirements of the residual oil cleaning robot.
The drive system module comprises a scraping drive 4 and a robot drive 6. The oil scraping driving device 4 is used for achieving movement of the oil scraping device, and the robot driving device 6 is used for achieving four-wheel driving of the anti-explosion type cleaning robot for residual oil at the bottom of the horizontal oil tank truck.
The robot driving device 6 is installed at the bottom of the main box body 1 and comprises four explosion-proof driving blocks, wherein one explosion-proof driving block is internally provided with a direct current brushless motor 63 for driving, and one explosion-proof driving block is correspondingly provided with a wheel, and four wheels are respectively fixedly arranged at the bottom of the main box body 1 through the explosion-proof driving blocks, so that four-wheel drive is formed.
The oil scraping driving device 4 is arranged corresponding to the oil scraping device and comprises an explosion-proof driving block and a scraper driving assembly, and the explosion-proof driving block is fixedly arranged on the main box body 1 and is connected with the oil scraping device through the scraper driving assembly.
As shown in fig. 3, fig. 3 is a structural view of the explosion-proof driving block; explosion-proof drive block includes transmission shaft 61, fixing base 62, sealing 65, sealed cowling 64, direct current brushless motor 63 with sealed cowling 64 is all fixed to be set up on the fixing base 62, sealed cowling 64 with the fixing base 62 forms sealed inner chamber, direct current brushless motor 63 sets up sealed inner chamber, be provided with the transmission hole on the fixing base 62, transmission shaft 61 passes through the transmission hole with direct current brushless motor 63 transmission is connected, sealing 65 establishes the downthehole assurance of transmission the sealed effect in transmission hole. Sealing 65 is for dismantling the module, is in through the bolt setting on the fixing base 62, sealing 65 prevents through the multiple seal that outside explosion from leading into in the brushless DC motor 63.
The fixing seat 62 is fixedly disposed on the main case 1, and is connected to the wheel or the scraper driving assembly through the transmission shaft 61, and drives the oil driving device 4 or the robot driving device 6 to perform driving operation through the dc brushless motor 63.
In order to avoid explosion caused by sparks generated during the operation of the motor, the driving motor is designed into the explosion-proof driving block. The explosion-proof sealing of the explosion-proof driving block is mainly divided into two parts, one part adopts the sealing cover 64 to isolate internal explosion, and prevents internal sparks from entering the oil tank truck to cause explosion; the other part is to isolate the outside inflammable dangerous air from entering the dc brushless motor 63 by the sealing part 65.
As shown in fig. 4, fig. 4 is a structural view of the main body; the main body 1 comprises a main box body 112, a front sealing cover 110 and a rear sealing cover 111, wherein the main box body 112 is made of an integral thick aluminum square tube, so that unnecessary sealing measures are reduced, and better explosion resistance can be realized. The openings of the main box body 112 are provided with aluminum thickened blocks to extend the arranged threads to increase the sealing performance, and the threads are generally used for connecting with other equipment; preceding sealed lid 110, back sealed lid 111 with fixed connection position department between the main tank body 112 is provided with the tang, be provided with the seal groove on the tang, be provided with the sealed pad of silica gel on the seal groove and guarantee the leakproofness of tang junction.
The front sealing cover 110 and the rear sealing cover 111 are made of aluminum plates and are fixed on the front and rear ends of the main box 112 through screws.
Generally, the oil scraping device is provided with a front scraping plate 2 and a rear scraping plate 3 corresponding to the front sealing cover 110 and the rear sealing cover 111 respectively, and the front scraping plate 2 and the front sealing cover 110, and the rear scraping plate 3 and the rear sealing cover 111 are in driving connection through the scraping plate driving assembly.
FIG. 5 is a structural view of the squeegee drive assembly, as shown in FIG. 5; specifically, the scraper driving assembly comprises a slide rail 24, a slider 22, a rack 27 and a gear 28, wherein the slide rail 24 and the rack 27 are fixedly arranged on the front scraper 2 and the rear scraper 3, the slider 22 is fixedly arranged on the front sealing cover 110 and the rear sealing cover 111, the gear 28 is connected with the explosion-proof driving block fixedly arranged on the front sealing cover 110 and the rear sealing cover 111, the slider 22 is movably connected on the slide rail 24, and the rack 27 is meshed with the gear 28. Preferably, the sliding block 22 and the rack 27 are made of nylon, and the gear 28 and the sliding rail 24 are made of metal, so that the spark caused by friction during operation is prevented.
Utilize the shafting can be better sealed, adopt the motor to drive the gear, gear and rack toothing, the rack is installed on the frizing, drives the lift of frizing with the motor, motor output shaft only need pass sealed covering the hole can, can seal the effect that reaches the explosion-proof better to the host computer body. The main box body and the sealing cover are made of aluminum materials, the sliding block and the rack are made of nylon materials, and the gear and the guide rail are made of metal materials. The frizing mounting panel adopts the nylon board to make, and the frizing soft board adopts the silica gel board to make, unloads hydraulic fluid port detection device's support horizontal pole and is the metal material, and the supporting seat is PA66 nylon material, and the measuring lever is the silica gel material. Under the dangerous oil-gas mixed environment, explosion caused by friction in the running process is effectively prevented.
Generally, the sliding block 22 is fixed on the front sealing cover 110 and the rear sealing cover 111 by adopting a blind hole 14, the explosion-proof driving block is fixedly arranged on the front sealing cover 110 and the rear sealing cover 111 by a connecting threaded hole, a sealing groove 17 and a 0-type sealing ring are arranged on the connecting threaded hole for sealing, and each connecting threaded hole is annularly arranged in the center of the motor output shaft hole 16 of the oil scraping driving device.
The front scraper 2 and the rear scraper 3 are identical in structural shape, are T-shaped in appearance and respectively comprise an oil scraping mounting plate 26, a pressing plate 29 and an oil scraping soft plate 21; the flexible scraper 21 passes through the fixed setting of clamp plate 29 is in the lower extreme of scraper mounting panel 26, the scraper mounting panel 26 material is PA66 nylon board, the flexible scraper 21 is the silica gel board, and the bottom sets up to the arc, the flexible scraper 21 passes through the bolt fastening the flexible scraper mounting panel 26 with among the clamp plate 29, the clamp plate 29 is rectangular aluminum plate.
Preferably, the number of the slide rails 24 is two, and the two slide rails 24 are arranged in parallel. The oil scraping mounting plate 26 is provided with two limiting grooves 23 corresponding to the two sliding rails 24, the sliding rails 24 are connected in the limiting grooves 23 through bolts, and the sliding block 22 can move in the limiting grooves 23 along the extending direction of the sliding rails 24, so that the Hall limiting sensor is prevented from being failed to cause impact.
Similarly, a mounting groove may be provided on the oil scraping mounting plate 26 corresponding to the rack 27, and the rack 27 may be fixed in the mounting groove by a bolt connection. The sensing device comprises a Hall sensor induction magnet 25 arranged on the oil scraping mounting plate 26 and Hall limit sensors 8 arranged on the front sealing cover 110 and the rear sealing cover 111, wherein the Hall limit sensors 8 and the Hall sensor induction magnet 25 are correspondingly arranged. Generally, the two hall position sensors 8 are disposed at the upper and lower ends of the groove 18 above the front and rear sealing covers 110 and 111, and are used for limiting the range of up-and-down movement of the squeegee.
The vertical movement of the oil scraping is realized by driving the gear 28 and further driving the rack 27 to move through the explosion-proof driving block, a shaft system is sealed between the explosion-proof driving block and the gear 28, so that the explosion-proof effect is better achieved, and the vertical movement of the scraper plate is limited through the matching of the Hall sensor induction magnet 25 and the Hall limit sensor 8.
Preferably, the front sealing cover 110 and the rear sealing cover 111 are further provided with an infrared sensor 7, and the infrared sensor 7 is hermetically connected to the infrared sensor mounting hole 19 of the front sealing cover 110 and the rear sealing cover 111 by a thread and a sealant. The infrared sensor 7 is used for detecting the distance between the anti-explosion type cleaning robot for the residual oil at the bottom of the horizontal oil tank truck and the tank wall of the horizontal oil tank truck, and avoiding collision between the anti-explosion type cleaning robot for the residual oil at the bottom of the horizontal oil tank truck and the tank wall.
Preferably, the main body 1 is further provided with a lifting ring mounting hole 11 for installing a carrying lifting ring, a data transmission antenna leading-out hole 12 for leading out a data line from the inside, a power switch mounting hole 13 for placing a power switch, and a charging hole 15 for conveniently charging an internal electric device.
Example two
The oil discharge port detection device 5 comprises a detection rod 52 and monitors through a Hall detection sensor 51 of the sensing device, and the detection rod 52 is arranged corresponding to the Hall detection sensor 51. In order to avoid the influence of a large amount of residual oil buoyancy, the oil discharge port is stably detected under the influence of oil stains.
As shown in fig. 6, fig. 6 is a schematic detection diagram of the oil discharge port detection device; the swing rod device 52 is combined with the Hall detection sensor 51 to realize the detection of the oil discharge port. As shown in the figure, when the robot passes through the oil discharge port, the swing link device 52 falls down due to its own gravity and is located at the position 2, and at this time, the hall detection sensor 51 detects the swing link device 52. In the normal operation process, the rocker device 52 is in the position 1 or the position 3, the hall detection sensor 51 cannot detect the rocker device 52, and the hall detection sensor 51 does not trigger. The oscillating bar device 52 can offset the influence of buoyancy by utilizing self-weight oscillation, the Hall detection sensor 51 detects a magnetic field, and the magnetic field is not influenced by oil stains, so that stable detection can be realized.
As shown in fig. 7, fig. 7 is a structural view of the oil discharge port detection device; the oil discharge port detection device 5 comprises the detection rod 52, a hall detection sensor induction magnet 53, a support cross rod 55 and a support base 54. Wherein the support cross bar 55 is made of metal, the support seat 54 is made of PA66 nylon, and the detection rod 52 is made of silica gel to prevent explosion caused by friction in the operation process.
Specifically, the supporting seat 54 is fixedly arranged at the bottom of the main box body 1, the detection rod 52 is fixedly arranged on the supporting seat 54 through the supporting cross rod 55, the detection rod 52 can rotate around the supporting cross rod 55, the end part of the detection rod 52 close to the main box body 1 is provided with the hall detection sensor induction magnet 53, and the hall detection sensor 51 corresponds to the hall detection sensor induction magnet 53. Generally, the length of the rod body between the end of the detecting rod 52 far from the main body 1 and the supporting cross bar 55 is greater than the vertical distance from the supporting cross bar 55 to the bottom of the wheel, so that the inclined arrangement of the detecting rod 52 during the normal operation can be realized.
The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank wagon has good sealing property and can prevent explosion in a dangerous oil-gas mixed working environment; the oil discharge port detection device can stably detect the oil discharge port in a severe working environment, and the detection effect of the oil discharge port detection device cannot be influenced by oil stains; the robot driving motor 6 is arranged outside the main machine body 1 to lift the chassis, so that the influence of residual oil buoyancy on the robot is avoided during operation; the four-wheel drive configuration mode is suitable for the internal environment of the oil tank, can realize pivot turning and meets the relevant requirements of the residual oil cleaning robot.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An explosion-proof cleaning robot for residual oil at the bottom of a horizontal tank wagon is characterized by comprising a main machine body, a driving system module, an oil scraping device and an oil discharging port detection device; the oil scraping device is arranged at the end part of the main machine body, the driving system module is arranged on the main machine body, and the oil discharge port detection device is arranged at the bottom of the main machine body; the main machine body and the driving system module are both sealing structures.
2. The horizontal tank wagon bottom residual oil explosion-proof type cleaning robot as claimed in claim 1, wherein the driving system module comprises a robot driving device; the robot driving device is installed at the bottom of the main box body and comprises four explosion-proof driving blocks, one DC brushless motors are arranged in the explosion-proof driving blocks to drive, one wheel is correspondingly arranged in each explosion-proof driving block, and the four wheels are respectively fixedly arranged at the bottom of the main box body through the explosion-proof driving blocks so as to form four-wheel drive.
3. The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank truck as claimed in claim 1, wherein the driving system module comprises an oil scraping driving device, the oil scraping driving device is arranged corresponding to the oil scraping device and comprises an explosion-proof driving block and a scraper driving assembly, and the explosion-proof driving block is fixedly arranged on the main tank body and is connected with the oil scraping device through the scraper driving assembly.
4. The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank wagon according to claim 2 or 3, wherein the explosion-proof driving block comprises a transmission shaft, a fixed seat, a sealing part and a sealing cover, the direct current brushless motor and the sealing cover are both fixedly arranged on the fixed seat, the sealing cover and the fixed seat form a sealed inner cavity, the direct current brushless motor is arranged in the sealed inner cavity, the fixed seat is provided with a transmission hole, the transmission shaft is in transmission connection with the direct current brushless motor through the transmission hole, and the sealing part is arranged in the transmission hole; the fixing seat is fixedly arranged on the main box body and is connected with the wheels or the scraper driving assembly through the transmission shaft.
5. The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank wagon according to claim 4, wherein the main body comprises a main box body and a sealing cover, a seam allowance is arranged at a fixed connection position between the sealing cover and the main box body, a sealing groove is arranged on the seam allowance, and a silica gel sealing gasket is arranged on the sealing groove; the oil scraping device is provided with a scraper corresponding to the sealing cover, and the scraper is in driving connection with the sealing cover through the scraper driving assembly.
6. The anti-explosion cleaning robot for the residual oil at the bottom of the horizontal tank wagon according to claim 5, wherein the scraper driving assembly comprises a slide rail, a slide block, a rack and a gear, the slide rail and the rack are fixedly arranged on the scraper, the slide block is fixedly arranged on the sealing cover, the gear is connected with the anti-explosion driving block fixedly arranged on the sealing cover, the slide block is movably connected on the slide rail, and the rack is meshed with the gear.
7. The horizontal tank wagon bottom residual oil explosion-proof type cleaning robot as claimed in claim 6, wherein the scraper comprises an oil scraping mounting plate, a pressing plate and an oil scraping soft plate; the oil scraping mounting plate is made of a PA66 nylon plate, the oil scraping soft plate is a silica gel plate, the bottom of the oil scraping soft plate is arc-shaped, the oil scraping soft plate is fixed between the oil scraping mounting plate and the pressing plate, and the oil scraping soft plate is fixed at the lower end of the oil scraping mounting plate.
8. The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank truck as claimed in claim 7, wherein a limiting groove is arranged on the oil scraping mounting plate corresponding to the slide rail, the slide rail is fixedly connected in the limiting groove, and the slide block can move in the limiting groove along the extending direction of the slide rail.
9. The explosion-proof cleaning robot for the residual oil at the bottom of the horizontal tank truck as claimed in claim 8, wherein a Hall sensor induction magnet is arranged on the oil scraping mounting plate, a Hall limit sensor is arranged on the sealing cover, the Hall limit sensor and the Hall sensor induction magnet are arranged correspondingly, and the Hall sensor induction magnet is arranged between the two Hall limit sensors.
10. The anti-explosion cleaning robot for the residual oil at the bottom of the horizontal tank wagon according to claim 4, wherein the oil discharge port detection device comprises a detection rod, a Hall detection sensor induction magnet, a support cross rod and a support seat; the supporting seat is fixedly arranged at the bottom of the main box body, the detection rod is fixedly arranged on the supporting seat through the supporting cross rod and can rotate around the supporting cross rod, the Hall detection sensor induction magnet is arranged at the end part, close to the main box body 1, of the detection rod, and the Hall detection sensor is arranged on the main box body and corresponds to the Hall detection sensor induction magnet; the length of the rod body between the end part of the detection rod far away from the main box body and the supporting cross rod is larger than the vertical distance from the supporting cross rod to the bottom of the wheel.
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| CN202011121493.6A CN112354992A (en) | 2020-10-19 | 2020-10-19 | Explosion-proof type cleaning robot of tank bottom residual oil of horizontal tank wagon |
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| CN202011121493.6A CN112354992A (en) | 2020-10-19 | 2020-10-19 | Explosion-proof type cleaning robot of tank bottom residual oil of horizontal tank wagon |
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| CN204827849U (en) * | 2015-07-21 | 2015-12-02 | 湖南南电电气有限公司 | Brushless air compressor machine of explosion -proof type integral type direct current permanent magnetism |
| CN108213008A (en) * | 2018-01-23 | 2018-06-29 | 安徽工业大学 | A kind of wheeled oil truck tank bottom Residual oil cleaning robot and method for cleaning |
| CN109365436A (en) * | 2018-09-10 | 2019-02-22 | 马鞍山市华宇环保设备制造有限公司 | A kind of enclosed environment is interior to clear up robot and its method for cleaning |
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Application publication date: 20210212 |