CN114472404A - Oil tank bottom oil sludge and special environment cleaning robot system - Google Patents
Oil tank bottom oil sludge and special environment cleaning robot system Download PDFInfo
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- CN114472404A CN114472404A CN202011146082.2A CN202011146082A CN114472404A CN 114472404 A CN114472404 A CN 114472404A CN 202011146082 A CN202011146082 A CN 202011146082A CN 114472404 A CN114472404 A CN 114472404A
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- recovery
- driving device
- cleaning robot
- explosion
- main frame
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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
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
- B08B9/0933—Removing sludge or the like from tank bottoms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention relates to an oil tank bottom oil sludge and special environment cleaning robot system, wherein a cleaning robot comprises a main frame, driving devices connected to two sides of the main frame and a recovery device fixed on the main frame; the system comprises a recovery system, a power driving device, a control system and a monitoring system, wherein the recovery system is connected with the recovery device, the power driving device is connected with the driving device, the control system is connected with the power driving device, the recovery system and the monitoring system, and the control system is also connected with a power source unit; the cleaning robot and the monitoring system are arranged in an explosion-proof crude oil area of a zero zone; the driving device and the control system are arranged in an explosion-proof area; the recovery system and the power source unit are arranged in a non-explosion-proof area. The invention has the beneficial effects that: replace the manual work through the robot to clear up and can improve cleaning efficiency, avoid appearing the bodily injury, place each device in the blast-proof area of different grades according to the nature in addition, can enough guarantee the smooth and easy of robot cleaning work, can carry out reasonable protection to each device again, improve the security level.
Description
Technical Field
The invention belongs to the field of special environment cleaning application, and particularly relates to oil sludge at the bottom of an oil tank and a special environment cleaning robot system.
Background
The large oil storage tank can store crude oil for a long time, a large amount of paste grease can appear at the bottom, the grease is inconvenient to treat, but a large amount of waste can be caused after the grease is not treated for a long time. The existing method for treating the grease mainly comprises flushing and manual cleaning, but the cleaning process wastes time and labor, and the efficiency is low; and the area that needs to handle the grease is in the explosion-proof region of zero zone, and manual cleaning not only is inconvenient to operate, and its clearance environment still can produce danger to the clearance personnel.
Disclosure of Invention
In order to solve the technical problems, the invention provides oil sludge at the bottom of an oil tank and a special environment cleaning robot system.
The technical scheme adopted by the invention is as follows: the oil sludge at the bottom of the oil tank and the special environment cleaning robot comprise a main frame and a main frame,
the driving devices are connected to the two sides of the main frame and drive the main frame to move;
and the recovery device is fixed on the main frame.
Preferably, the driving device comprises a left driving device and a right driving device, and the two driving devices are hydraulic driving tracks.
Preferably, the hydraulic drive track comprises a track main plate, a transmission gear, a tension wheel assembly, a track and a hydraulic drive motor, wherein the transmission gear and the tension wheel assembly are arranged on the track main plate, the hydraulic drive motor is connected with the transmission gear, and the track is connected with the transmission gear and the tension wheel assembly.
Preferably, the recovery device comprises a recovery pipe body and a tubular execution machine head, the recovery pipe body is connected with the main frame through a fixing ring, the execution machine head is fixedly connected to the front end or the rear end of the main frame, the recovery pipe body is in through connection with the execution machine head, and the opening of the open end of the execution machine head faces downwards.
Preferably, the system also comprises a recovery system, a power driving device, a control system and a monitoring system, wherein the recovery system is connected with the recovery device, the power driving device is connected with the driving device, the control system is connected with the power driving device, the recovery system and the monitoring system, and the control system is also connected with a power source unit;
the cleaning robot and the monitoring system are arranged in a zero-region explosion-proof crude oil region which is in the tank body;
the driving device and the control system are arranged in an explosion-proof area;
the recovery system and the power source unit are arranged in a non-explosion-proof area.
Preferably, the driving device is a hydraulic driving crawler belt, the power driving device is an explosion-proof hydraulic station and a hydraulic winding drum, and the driving device is connected with the hydraulic driving motor through a robot hydraulic driving pipeline.
Preferably, the recovery device is connected to the recovery system by a recovery line.
Preferably, the recovery system is further connected with a flushing module, the flushing module is connected with a flushing pipeline, and the flushing pipeline can flush the tank body.
Preferably, the monitoring system is an explosion-proof camera which is fixed on the inner wall of the tank body.
The invention has the advantages and positive effects that: replace the manual work through the robot to clear up and can improve cleaning efficiency, avoid appearing the bodily injury, place each device in the blast-proof area of different grades according to nature in addition, can enough guarantee the smooth and easy of robot cleaning work, can carry out reasonable protection to each device again, improve the security level, reduce maintenance and maintenance cost.
Drawings
FIG. 1 is a schematic view of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a partial structure of a cleaning robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving device of a cleaning robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of the apparatus of one embodiment of the present invention;
FIG. 5 is a schematic view of the construction of one embodiment of the present invention.
In the figure:
1. main frame 2, recovery device 21, recovery pipe body
22. Executive machine head 3, driving device 31 and track main board
32. Drive gear 33, tension wheel assembly 34 and crawler belt
35. Hydraulic drive motor
Detailed Description
An embodiment of the present invention will be described below with reference to the drawings.
As shown in fig. 1-3, the invention relates to a robot for cleaning oil sludge at the bottom of an oil tank and special environment, which comprises a main frame 1, a driving device 3 and a recovery device 2; the driving devices 3 are connected to two sides of the main frame 1 and can drive the main frame 1 to move; the recovery device 2 is fixed on the main frame 1 and is used for sucking grease and oil stains in the oil tank and cleaning sewage generated.
The driving devices 3 comprise a left driving device and a right driving device, which are symmetrically fixed on the main frame 1, and the two driving devices 3 are hydraulic driving crawler belts 34 and can walk under water. As shown in fig. 3, the hydraulically driven track 34 includes a main track plate 31, a transmission gear 32, a tension pulley assembly 33, a track 34 and a hydraulic drive motor 35, the transmission gear 32 and the tension pulley assembly 33 are disposed on the main track plate 31, the hydraulic drive motor 35 is connected to the transmission gear 32, and the track 34 is connected to the transmission gear 32 and the tension pulley assembly 33; the power driving device 3 is an explosion-proof hydraulic station and a hydraulic winding drum, the explosion-proof hydraulic station and the hydraulic winding drum comprise an explosion-proof hydraulic station and a multi-channel hydraulic winding drum, and the driving device 3 is connected with the hydraulic driving motor 35 through a robot hydraulic driving pipeline.
As shown in fig. 2, the recycling device 2 includes a recycling pipe 21 and an executing head 22 connected to each other, the recycling pipe 21 is fixed on the main frame 1 through a fixing ring, the executing head 22, which is also tubular, is fixedly connected to the front end or the rear end of the main frame 1, and the opening end of the executing head 22 is downward for sucking the sewage at the bottom of the tank under the driving of the vacuum machine. Execute the aircraft nose 22 front end and be hopper-shaped or leak hopper-shaped, large tracts of land contact sewage improves sewage and absorbs efficiency, and execution aircraft nose 22 can dismantle with recovery body 21 and be connected, can change after execution aircraft nose 22 wearing and tearing, or according to sewage position and height, change the execution aircraft nose 22 of different grade type. The recycling pipe body 21 is connected with the execution machine head 22 in a penetrating way, and the connection position can be in plug-in connection or threaded connection. The recovery pipe body 21 is connected with a recovery system through a recovery pipeline, the recovery system can be a vacuum fan and a vacuum liquid recovery processing device, and the cleaning robot absorbs sewage at the bottom of the tank body through the recovery device 2 and recovers the sewage into the vacuum liquid recovery processing device through the recovery pipeline. The cleaning robot can change the position thereof to assist in sucking sewage.
In some embodiments of the invention, the recovery system is further connected with a flushing module, the flushing module is connected with a flushing pipeline, and the flushing pipeline can flush the tank body. When in use, the flushing pipe can be bound and fixed on the main frame 1 of the cleaning robot in the same way, and also can be fixed on the edge of the tank body for flushing water into the tank body; when necessary, manual flushing can be adopted to assist in cleaning the tank body. The flushing module can be a high-flow hot water pump.
As shown in fig. 4-5, the present invention further includes a control system and a monitoring system. The control system is connected with the power driving device 3, the recovery system and the monitoring system, and is also connected with a power source unit which is connected with each module or system through a power cable to provide power for the whole system; the control system is connected with each module or system through a monitoring signal cable, drives the cleaning robot to move, controls the sewage suction action and receives feedback information of the monitoring system; the control system comprises an electromagnetic hydraulic control valve and a display, or an existing common device with a control function can be added according to actual needs. The monitoring system is an explosion-proof camera which is fixed on the inner wall of the tube body and used for feeding back the conditions in the tank body in real time and assisting in commanding and cleaning processes.
The oil tank cleaned by the scheme belongs to an explosion-proof range, once danger occurs, not only can great loss be caused, but also chain reaction can be generated, and based on the explosion-proof requirement, each module or system is placed in different areas. The cleaning robot and the monitoring system are arranged in a zero-zone explosion-proof crude oil area, and the zero-zone explosion-proof crude oil area is specifically in a tank body or a tank area; the driving device 3 and the control system are arranged in an explosion-proof area, and the driving device 3 and the control system are integrally built, so that the operation and the control are convenient; the recovery system and the power source unit are arranged in a non-explosion-proof area.
The cost generated by the explosion-proof mode of the recovery system and the power source unit is too high, and the recovered oil is not well treated in the explosion-proof range, so that the recovery system and the power source unit are arranged in a non-explosion-proof area, the cleaning robot in the zero-area explosion-proof crude oil area is connected through a recovery pipeline or a flushing pipeline, and the control system and the driving device 3 in the explosion-proof area with lower explosion-proof requirements are connected through a monitoring signal cable and a power cable. Because the distance between the non-explosion-proof area and the zero-area explosion-proof crude oil area is far, the corresponding control circuit and the driving circuit are long, and the remote operation is easy to break down or damage, the control system and the driving device 3 can be arranged in the one-area explosion-proof area with low explosion-proof requirement, so that the zero-area explosion-proof area with higher danger coefficient can be far away, and the cleaning robot can be accurately controlled. Through above-mentioned device, the operator can control the cleaning process at tank field outside or other safe region, and safe efficient retrieves and cleans jar body bottom grease and other filths, or other harmful substance, proves through practice that, whole system can accomplish original 25 workman single day work load under the condition of three workman single day operations, is showing and is improving work efficiency.
The present solution is further defined by the following specific examples.
Example (b):
the robot for cleaning the oil sludge at the bottom of the oil tank and the special environment comprises a main frame 1, a driving device 3 and a recovery device 2. The driving devices 3 are connected to two sides of the main frame 1 and drive the main frame 1 to move; the driving devices 3 comprise a left driving device and a right driving device, and both the two driving devices 3 are hydraulic driving tracks 34; the hydraulic drive crawler 34 comprises a crawler main plate 31, a transmission gear 32, a tension wheel assembly 33, a crawler 34 and a hydraulic drive motor 35, wherein the transmission gear 32 and the tension wheel assembly 33 are arranged on the crawler main plate 31, the hydraulic drive motor 35 is connected with the transmission gear 32, and the crawler 34 is connected with the transmission gear 32 and the tension wheel assembly 33. The recovery device 2 is fixed on the main frame 1, and is specifically a recovery pipe body 21; the recovery device 2 further comprises a tubular execution machine head 22, the recovery pipe body 21 is connected with the main frame 1 through a fixing ring, the execution machine head 22 is fixedly connected to the front end of the main frame 1, the recovery pipe body 21 is in through connection with the execution machine head 22, and the opening of the open end of the execution machine head 22 faces downwards.
The oil tank bottom oil sludge and special environment cleaning robot system comprises a cleaning robot, a recovery system, a power driving device 3, a control system and a monitoring system, wherein the recovery system is connected with the recovery device 2, the power driving device 3 is connected with the driving device 3, the control system is connected with the power driving device 3, the recovery system and the monitoring system, and the control system is also connected with a power source unit; the power driving device 3 is an explosion-proof hydraulic station and a hydraulic winding drum, and the driving device 3 is connected with a hydraulic driving motor 35 through a robot hydraulic driving pipeline. The recovery pipe body 21 is connected with a recovery system through a recovery pipeline; the recovery system is a vacuum fan and a vacuum liquid recovery processing device, and is also connected with a flushing module, the flushing module is connected with a flushing pipeline, and the flushing pipeline can flush water in the tank body. The monitoring system is an explosion-proof camera which is fixed on the inner wall of the tank body.
The cleaning robot and the monitoring system are arranged in a zero-region explosion-proof crude oil region which is in the tank body;
the driving device 3 and the control system are arranged in an explosion-proof area;
the recovery system and the power source unit are arranged in a non-explosion-proof area.
When the cleaning robot is used, the control module controls the power driving device 3 to adjust the cleaning robot to move forwards or backwards so as to enable the cleaning robot to be located at a proper cleaning position; the control module controls the vacuum fan to extract the dirt at the bottom of the tank body sequentially through the recovery pipeline, the recovery pipe body 21 and the execution machine head 22, and water can be flushed into the tank body through the flushing pipeline when necessary; the explosion-proof camera feeds back image information in the tank body to the control module, and an operator controls the robot to adjust the position according to the feedback information, so that the cleaning work of the cleaning robot is realized.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. Oil tank bottom fatlute and special environment cleaning machines people, its characterized in that: comprises a main frame and a plurality of supporting legs,
the driving devices are connected to two sides of the main frame and drive the main frame to move;
and the recovery device is fixed on the main frame.
2. The oil tank bottom sludge and special environment cleaning robot according to claim 1, characterized in that: the driving device comprises a left driving device and a right driving device, and the two driving devices are hydraulic driving tracks.
3. The oil tank bottom sludge and special environment cleaning robot according to claim 2, characterized in that: the hydraulic drive crawler belt comprises a crawler belt main plate, a transmission gear, a tension wheel assembly, a crawler belt and a hydraulic drive motor, wherein the transmission gear and the tension wheel assembly are arranged on the crawler belt main plate, the hydraulic drive motor is connected with the transmission gear, and the crawler belt is connected with the transmission gear and the tension wheel assembly.
4. The oil tank bottom sludge and special environment cleaning robot according to claim 1, characterized in that: the recovery device comprises a recovery pipe body and a tubular execution machine head, the recovery pipe body is connected with the main frame through a fixing ring, the execution machine head is fixedly connected to the front end or the rear end of the main frame, the recovery pipe body is in through connection with the execution machine head, and the opening of the open end of the execution machine head is downward.
5. A system comprising the oil sludge at the bottom of the oil tank and the special environment cleaning robot as described in any one of claims 1 to 4, wherein: the system comprises a recovery system, a power driving device, a control system and a monitoring system, wherein the recovery system is connected with the recovery device, the power driving device is connected with the driving device, the control system is connected with the power driving device, the recovery system and the monitoring system, and the control system is also connected with a power source unit;
the cleaning robot and the monitoring system are arranged in a zero-region anti-explosion crude oil region which is in a tank body;
the driving device and the control system are arranged in an explosion-proof area;
the recovery system and the power source unit are arranged in a non-explosion-proof area.
6. The oil tank bottom sludge and special environment cleaning robot system according to claim 5, characterized in that: the driving device is a hydraulic driving crawler belt, the power driving device is an explosion-proof hydraulic station and a hydraulic winding drum, and the driving device is connected with the hydraulic driving motor through a robot hydraulic driving pipeline.
7. The oil tank bottom sludge and special environment cleaning robot system according to claim 5, characterized in that: the recovery device is connected with the recovery system through a recovery pipeline.
8. The oil tank bottom sludge and special environment cleaning robot system according to claim 5 or 7, characterized in that: the recovery system is further connected with a flushing module, the flushing module is connected with a flushing pipeline, and the flushing pipeline can flush the tank body.
9. The oil tank bottom sludge and special environment cleaning robot system according to claim 5, characterized in that: the monitoring system is an explosion-proof camera which is fixed on the inner wall of the tank body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011146082.2A CN114472404A (en) | 2020-10-23 | 2020-10-23 | Oil tank bottom oil sludge and special environment cleaning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011146082.2A CN114472404A (en) | 2020-10-23 | 2020-10-23 | Oil tank bottom oil sludge and special environment cleaning robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114472404A true CN114472404A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011146082.2A Pending CN114472404A (en) | 2020-10-23 | 2020-10-23 | Oil tank bottom oil sludge and special environment cleaning robot system |
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| Country | Link |
|---|---|
| CN (1) | CN114472404A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104174A (en) * | 2007-08-12 | 2008-01-16 | 胜利油田胜利工程设计咨询有限责任公司 | Oil product storage tank cleaning hydraulic type self-controlled robot |
| CN106077001A (en) * | 2016-07-29 | 2016-11-09 | 北京石油化工学院 | A kind of product oil internal floating roof tank cleaning robot |
| CN109174865A (en) * | 2018-08-06 | 2019-01-11 | 福建省迅达石化工程有限公司 | A kind of broken reclaimer of oil storage tank siltation greasy filth residue |
-
2020
- 2020-10-23 CN CN202011146082.2A patent/CN114472404A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104174A (en) * | 2007-08-12 | 2008-01-16 | 胜利油田胜利工程设计咨询有限责任公司 | Oil product storage tank cleaning hydraulic type self-controlled robot |
| CN106077001A (en) * | 2016-07-29 | 2016-11-09 | 北京石油化工学院 | A kind of product oil internal floating roof tank cleaning robot |
| CN109174865A (en) * | 2018-08-06 | 2019-01-11 | 福建省迅达石化工程有限公司 | A kind of broken reclaimer of oil storage tank siltation greasy filth residue |
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