CN115007580B - Intelligent oil tank cleaning robot and cleaning method - Google Patents
Intelligent oil tank cleaning robot and cleaning method Download PDFInfo
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- CN115007580B CN115007580B CN202210661729.8A CN202210661729A CN115007580B CN 115007580 B CN115007580 B CN 115007580B CN 202210661729 A CN202210661729 A CN 202210661729A CN 115007580 B CN115007580 B CN 115007580B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 288
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 15
- 238000005406 washing Methods 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 9
- 230000036541 health Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 4
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 description 12
- 238000010586 diagram Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 7
- 239000000126 substance Substances 0.000 description 5
- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 4
- 230000000711 cancerogenic effect Effects 0.000 description 4
- 231100000315 carcinogenic Toxicity 0.000 description 4
- 239000007789 gas Substances 0.000 description 4
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 241000239290 Araneae Species 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
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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
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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
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
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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
-
- 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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention relates to the technical field of oil tank cleaning, in particular to an intelligent oil tank cleaning robot and a cleaning method, wherein the intelligent oil tank cleaning robot comprises a chassis assembly, movable supporting legs, a telescopic main arm, an auxiliary arm, a rotary connecting assembly, a cleaning arm and a cleaning head; the front end and the rear end of the chassis assembly are respectively provided with movable supporting legs which are arranged in pairs; the telescopic main arm is arranged above the chassis assembly; the auxiliary arm is arranged above the telescopic main arm and is connected with the telescopic main arm through the rotary connecting assembly, and the cleaning arm is arranged on the auxiliary arm. The invention solves the problems of low cleaning efficiency, poor quality, low safety, harm to health and the like of the cleaning settling tank in the prior art; and can solve the vault vertical settling cask manual cleaning technology problem of fixed top, cleaning robot cleaning pressure can reach 25MPa when wasing, and the washing water temperature is greater than 85 ℃, and the cleaning effect is better, and can adopt automatic or semi-automatic washing to the region that the work load is biggest through planning cleaning path and cleaning scheme to improve oil tank cleaning efficiency by a wide margin.
Description
Technical Field
The invention relates to the technical field of oil tank cleaning, in particular to an intelligent oil tank cleaning robot and a cleaning method.
Background
Oil exploitation generally requires an oil tank for storage, a plurality of treatment pipelines are arranged in the oil tank, chemical substances are introduced into the oil tank through the treatment pipelines to perform primary treatment on the oil, and some impurities in the oil are separated, so that impurities are deposited on the inner wall of the oil tank, and the inner wall of the oil tank needs to be cleaned at intervals.
Generally, the petroleum storage tank needs to be cleaned after being used for 3-5 years, and three cleaning modes are mainly available in the market at present: manual cleaning, large-scale mechanical equipment and robot cleaning. Wherein, to the vault vertical settling cask of fixed top, like primary settling cask, secondary settling cask, its inner structure includes inner tube, urceolus and interior pipeline etc. and the urceolus highly can reach 10 meters, and the tank deck highly can reach 14 meters, and there is spider web pipeline, the washing degree of difficulty is great, at present only can wash through artifical scaffold, however, manual cleaning has inefficiency, the effect is poor, there is high altitude construction safety risk, construction environment influences operating personnel health (tank internal mixed gas contains cancerogenic substances such as hydrogen sulfide and benzene), problem such as with high costs.
Disclosure of Invention
Aiming at the technical problems, the intelligent oil tank cleaning robot and the cleaning method provided by the invention are used for solving the problems that in the prior art, only manual cleaning can be adopted for a vault vertical settling tank with a fixed roof, the manual cleaning has low efficiency and poor effect, high-altitude operation safety risks, the construction environment influences the health of operators (mixed gas in the tank contains cancerogenic substances such as hydrogen sulfide, benzene and the like), and the cost is high.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention provides an intelligent oil tank cleaning robot which comprises a chassis assembly, a plurality of movable supporting legs, a telescopic main arm, an auxiliary arm, a rotary connecting assembly, a cleaning arm, a cleaning head and a control mechanism, wherein the chassis assembly is connected with the telescopic main arm through the telescopic main arm;
the two sides of the front end and the two sides of the rear end of the chassis assembly are respectively provided with movable supporting legs which are arranged in pairs; the telescopic main arm is movably arranged above the chassis assembly; the auxiliary arm is arranged above the telescopic main arm, one end of the auxiliary arm is connected with the telescopic main arm through the rotary connecting assembly, the other end of the auxiliary arm is movably connected with one end of the cleaning arm, the cleaning arm is arranged above the telescopic main arm in a telescopic and rotatable manner, and a camera is arranged on the cleaning arm; the cleaning head is movably arranged at the other end of the cleaning arm; the chassis assembly, the movable supporting legs, the telescopic main arm, the auxiliary arm and the cleaning arm are electrically connected with the control mechanism.
Further, the telescopic main arm comprises a plurality of telescopic arm bodies and a first telescopic mechanism; the telescopic arm main bodies are arranged above the chassis assembly, and all the telescopic arm main bodies are nested; the telescopic arm body is connected with the first telescopic mechanism in a telescopic way; the auxiliary arm comprises a plurality of auxiliary arm main bodies and a second telescopic mechanism; all the auxiliary arm main bodies are nested and arranged, and are connected with the telescopic main arm through the rotary connecting assembly; the second telescopic mechanism is telescopically connected with the auxiliary arm main body.
Further, the rotary coupling assembly comprises a rotary speed reducing motor and a coupling joint; the rotary speed reducing motor is rotatably arranged on the telescopic main arm; one end of the connecting joint is connected with the rotary speed reducing motor, and the other end of the connecting joint is connected with the auxiliary arm.
Further, the movable supporting leg comprises a rotating seat assembly, a supporting rod, a third telescopic mechanism, a supporting foot and universal wheels; the rotating seat assembly is arranged on the chassis assembly; one end of the supporting rod is hinged with the rotating seat assembly; one end of the third telescopic mechanism is hinged with the rotating seat assembly, and the other end of the third telescopic mechanism is hinged with the supporting rod; the support legs are arranged on the rotating seat assembly; the universal wheel is rotatably arranged between the third telescopic mechanism and the support leg, and the universal wheel is arranged on the rotating seat assembly.
The invention provides a cleaning method of an intelligent oil tank cleaning robot, which adopts the intelligent oil tank cleaning robot and comprises the following steps:
entering a tank body step: the cleaning robot expands the auxiliary arm and the movable supporting leg, and the cleaning robot is guided to enter the oil tank from the tank inlet of the oil tank to be cleaned through the guiding ladder;
and (3) cleaning the tank top: the cleaning robot runs to a first preset position along the central axis of the oil tank, and a movable supporting leg arranged at the rear end is unfolded in an H shape to clean the tank top;
cleaning the outer wall of the inner cylinder: the cleaning robot runs to the outer wall of the inner cylinder of the oil tank to clean the outer wall of the inner cylinder;
and (3) cleaning an oil pipe: the cleaning robot retreats to a second preset position to carry out mobile cleaning on the oil pipe along the road;
the inner wall of the outer cylinder is cleaned: the cleaning robot runs to the inner wall of the outer cylinder of the oil tank to clean the inner wall of the outer cylinder;
the above-mentioned operation steps are one cleaning operation cycle.
Further, the oil pipe cleaning step specifically comprises the following steps: the cleaning robot retreats to a second preset position, an operator observes the working environment in real time through a camera arranged at the chassis assembly and the cleaning arm, and the semi-automatic movement cleaning is carried out on the oil pipe when the cleaning arm does not collide with the tank inner structure by controlling the telescopic quantity and the rotating direction of the telescopic main arm.
Further, the cleaning step of the inner wall of the outer cylinder specifically comprises the following steps: the cleaning robot retreats to a third preset position, the movable supporting leg arranged at the rear end of the chassis assembly is unfolded in an H shape, and the cleaning robot runs an automatic cleaning program or a manual cleaning program to clean the inner wall of the outer cylinder of the oil tank.
Further, the cleaning robot is communicated with the high-pressure boiler through a composite cable, the cleaning water pressure is 25Mpa, and the cleaning water temperature is 90 ℃.
Further, when the cleaning robot moves for cleaning, the movable supporting legs rotate or overturn until the universal wheels are attached to the ground, so that the movable supporting legs are unfolded in an X shape.
The technical scheme has the following advantages or beneficial effects:
the invention provides an intelligent oil tank cleaning robot which comprises a chassis assembly, a plurality of movable supporting legs, a telescopic main arm, an auxiliary arm, a rotary connecting assembly, a cleaning arm, a cleaning head and a control mechanism, wherein the chassis assembly is connected with the telescopic main arm through the telescopic main arm; the front end and the rear end of the chassis assembly are respectively provided with movable supporting legs which are arranged in pairs; the telescopic main arm is movably arranged above the chassis assembly; the auxiliary arm is arranged above the telescopic main arm, one end of the auxiliary arm is connected with the telescopic main arm through the rotary connecting assembly, the other end of the auxiliary arm is movably connected with one end of the cleaning arm, the cleaning arm is telescopically and rotatably arranged above the telescopic main arm, and a camera is arranged on the cleaning arm; the cleaning head is movably arranged at the other end of the cleaning arm; the chassis assembly, the movable supporting leg, the telescopic main arm, the auxiliary arm and the cleaning arm are electrically connected with the control mechanism. The intelligent oil tank cleaning robot provided by the invention aims at the blank of intelligent cleaning equipment for settling tanks in the market, and solves the problems that in the prior art, a manual scaffold is needed for cleaning the settling tanks, the cleaning efficiency is low, the cleaning quality is poor, the safety is low, the health is endangered and the like; on the other hand, the manual cleaning process problem of the vault vertical settling tank of fixed roof can be solved, the cleaning pressure of the cleaning robot can reach 25MPa when cleaning, the cleaning water temperature is greater than 85 ℃, the cleaning effect is good, and the cleaning path and the cleaning scheme can be planned, and the area with the largest workload (such as the outer wall of the inner cylinder and the inner wall of the outer cylinder) can be automatically or semi-automatically cleaned, so that the cleaning efficiency of the oil tank is improved to a greater extent.
Drawings
The invention and its features, aspects and advantages will become more apparent from the detailed description of non-limiting embodiments with reference to the following drawings. Like numbers refer to like parts throughout. The drawings are not intended to be drawn to scale, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic diagram of the structure of an intelligent oil tank cleaning robot according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of the structure of a movable leg in a pair arrangement in the intelligent oil tank cleaning robot according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram showing a state of the intelligent oil tank cleaning robot according to embodiment 1 of the present invention when the movable leg is rotated back and forth;
FIG. 4 is a top view of FIG. 3;
fig. 5 is a schematic diagram of the structure of the intelligent oil tank cleaning robot according to embodiment 1 of the present invention when the intelligent oil tank cleaning robot meets the tank filling requirement after adjustment;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a schematic diagram of the perspective structure of FIG. 5;
fig. 8 is a schematic diagram of the structure of a movable leg in the intelligent oil tank cleaning robot according to embodiment 1 of the present invention;
fig. 9 is a schematic diagram showing a state in which a third telescopic operation of a movable supporting leg drives a supporting rod to turn over in the intelligent oil tank cleaning robot provided in embodiment 1 of the present invention;
fig. 10 is a schematic diagram of the structure in which all the movable legs of the intelligent oil tank cleaning robot provided in embodiment 1 of the present invention are unfolded in an H-shape;
fig. 11 is a schematic diagram of an X-shaped deployment structure of all movable legs in the intelligent oil tank cleaning robot according to embodiment 1 of the present invention;
fig. 12 is a schematic diagram of a path of an intelligent tank cleaning robot according to embodiment 1 of the present invention when cleaning a head of the intelligent tank cleaning robot vertically in a tank;
fig. 13 is a schematic diagram of a path of an intelligent tank cleaning robot according to embodiment 1 of the present invention in a cleaning operation of oscillating a head in a tank;
fig. 14 is a schematic diagram of a cleaning operation path of the intelligent oil tank cleaning robot in an oil tank according to embodiment 1 of the present invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present application.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or groups thereof.
The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
The terms "first," "second," "third," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" should be construed broadly, as if they were fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following description of the technical solutions according to the embodiments of the present invention refers to the accompanying drawings, which are included to illustrate only some embodiments of the invention, and not all embodiments. Accordingly, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to fall within the scope of the present invention.
Example 1:
generally, the petroleum storage tank needs to be cleaned after being used for 3-5 years, and three cleaning modes are mainly available in the market at present: manual cleaning, large-scale mechanical equipment and robot cleaning. Wherein, to the vault vertical settling cask of fixed top, like primary settling cask, secondary settling cask, its inner structure includes inner tube, urceolus and interior pipeline etc. and the urceolus highly can reach 10 meters, and the tank deck highly can reach 14 meters, and there is spider web pipeline, the washing degree of difficulty is great, at present only can wash through artifical scaffold, however, manual cleaning has inefficiency, the effect is poor, there is high altitude construction safety risk, construction environment influences operating personnel health (tank internal mixed gas contains cancerogenic substances such as hydrogen sulfide and benzene), problem such as with high costs.
As will be understood with reference to fig. 1 to 14, the intelligent oil tank cleaning robot provided in embodiment 1 of the present invention includes a chassis assembly 1, a plurality of movable legs 2, a telescopic main arm 3, an auxiliary arm 4, a rotary coupling assembly 5, a cleaning arm 6, a cleaning head 7 and a control mechanism; the two sides of the front end and the two sides of the rear end of the chassis assembly 1 are respectively provided with movable supporting legs 2 which are arranged in pairs; the telescopic main arm 3 is movably arranged above the chassis assembly 1; the auxiliary arm 4 is arranged above the telescopic main arm 3, one end of the auxiliary arm 4 is connected with the telescopic main arm 3 through the rotary connecting component 5, the other end of the auxiliary arm 4 is movably connected with one end of the cleaning arm 6, the cleaning arm 6 is telescopically and rotatably arranged above the telescopic main arm 3, and a camera is arranged on the cleaning arm 6; the cleaning head 7 is movably arranged at the other end of the cleaning arm 6; the chassis assembly 1, the movable supporting leg 2, the telescopic main arm 3, the auxiliary arm 4 and the cleaning arm 6 are electrically connected with the control mechanism.
The intelligent oil tank cleaning robot provided by the invention has the advantages that the telescopic main arm 3 is composed of five sections of arms in a sleeve structure, the volume of the robot is ensured to be small enough (the requirements of in-tank and in-tank running size are met), the oil tank structure is shown in fig. 12-14, the structural strength requirement is met, meanwhile, the cleaning head 7 reaches the maximum working height of 14 meters through telescopic operation, the auxiliary arm 4 is composed of two sections of arms in the sleeve structure, the telescopic and rotating functions of the auxiliary arm 4 are matched, the cleaning arm 6 can realize the cleaning operation in the maximum range, the movable supporting leg 2 can meet the requirements of the size or stability of the cleaning robot under different working conditions through the rotating or overturning function of the auxiliary arm, and the telescopic main arm 3, the auxiliary arm 4, the movable supporting leg 2 and the like are folded when the cleaning robot is in a transportation state, as shown in the attached drawing 1, so that the cleaning robot is convenient to transport. The intelligent oil tank cleaning robot provided by the invention aims at the blank of intelligent cleaning equipment for settling tanks in the market, and solves the problems that in the prior art, a manual scaffold is needed for cleaning the settling tanks, the cleaning efficiency is low, the cleaning quality is poor, the safety is low, the health is endangered and the like; on the other hand, can also solve the vault vertical settling cask manual cleaning technology problem of fixed top, cleaning robot cleaning pressure can reach 25MPa when wasing, and the washing water temperature is greater than 85 ℃, and cleaning effect is better, and manual cleaning water pressure can only reach 15MPa generally, and the washing temperature is about 85 ℃, to the thicker regional needs the repeated washing of greasy dirt can, and a lot of areas can't wash in place, and cleaning robot can then pass through planning cleaning route and cleaning scheme to adopt automatic or semi-automatic washing to the biggest region of work load (like inner tube outer wall and urceolus inner wall), thereby improved the cleaning efficiency of oil tank to a great extent. Therefore, the intelligent oil tank cleaning robot provided by the invention has the advantages of reasonable structural design, easiness in realization and higher practical value, and effectively solves the problems that in the prior art, only manual cleaning can be adopted for a vault vertical sedimentation tank with a fixed roof, the manual cleaning has low efficiency and poor effect, high-altitude operation safety risks, and the construction environment influences the health of operators (mixed gas in the tank contains cancerogenic substances such as hydrogen sulfide, benzene and the like), and the cost is high.
Further, the telescopic main arm 3 includes a plurality of telescopic arm main bodies 31 and a first telescopic mechanism 32; the telescopic arm main bodies 31 are arranged above the chassis assembly 1, and all the telescopic arm main bodies 31 are nested; the telescopic arm main body 31 is telescopically connected to the first telescopic mechanism 32; the sub arm 4 includes a plurality of sub arm main bodies 41 and a second telescopic mechanism 42; all auxiliary arm main bodies 41 are nested and connected with the telescopic main arm 3 through a rotary coupling assembly 5; the second telescopic mechanism 42 is telescopically connected to the sub arm body 41. Through setting up flexible arm main part 31, auxiliary arm main part 41, first telescopic machanism 32 and second telescopic machanism 42 for flexible main arm 3 and auxiliary arm 4 can be in predetermineeing the within range extension or shorten to satisfy the size or the job stabilization requirement of cleaning robot under different operating modes, wherein, first telescopic machanism 32 and second telescopic machanism 42 include but are not limited to devices such as hydro-cylinder or cylinder can realize flexible function, in this embodiment, flexible arm main part 31 can be lifted 0-90 under the effect of hydro-cylinder.
Further, the swing coupling assembly 5 includes a swing reduction motor 51 and a coupling joint 52; the rotary speed reducing motor 51 is rotatably provided on the telescopic main arm 3; one end of the coupling joint 52 is connected to the swing reduction motor 51, and the other end is connected to the sub-arm 4. By providing the rotary speed reduction motor 51 and the coupling joint 52, the auxiliary arm body 41 can be rotated 360 degrees by taking the central axis of the telescopic arm body 31 as the axis, and the cleaning head 7 can be adjusted in angles in three axial directions to achieve the maximum cleaning degree of freedom in cooperation with the three joints at the cleaning arm 6.
Further, the movable supporting leg 2 comprises a rotary seat assembly 21, a supporting rod 22, a third telescopic mechanism 23, a supporting foot 24 and a universal wheel 25; the two movable supporting legs 2 are connected through a connecting sleeve 26; the rotating seat assembly 21 is arranged on the chassis assembly 1; one end of the supporting rod 22 is hinged with the rotating seat assembly 21; one end of the third telescopic mechanism 23 is hinged with the rotary seat assembly 21, and the other end of the third telescopic mechanism is hinged with the support rod 22; the support legs 24 are arranged on the rotary seat assembly 21; the universal wheel 25 is rotatably arranged between the third telescopic mechanism 23 and the support leg 24, and the universal wheel 25 is arranged on the rotary seat assembly 21. Through the arrangement, the third telescopic mechanism 23 can drive the supporting rod 22 to rotate, the third telescopic mechanism 23 can also adjust the included angle between the two movable supporting legs 2 through telescopic adjustment distance, and the movable supporting legs 2 can be leveled through the rotating seat assembly 21 so that the universal wheels 25 are grounded, and in this way, the cleaning robot can enter the oil tank from the standard inlet on the oil tank, so that on one hand, the cleaning stability of the crawler-type cleaning robot in the oil tank is ensured, and meanwhile, the volume of the crawler-type cleaning robot is not increased; on the other hand, the crawler-type cleaning robot does not need to be provided with a larger inlet hole on the oil tank to enter the oil tank, so that the working strength of operators is greatly reduced, and similarly, the third telescopic mechanism 23 can adopt an oil cylinder, but is not limited to the oil cylinder, and the device capable of driving the support rod 22 to rotate can be understood as the third telescopic mechanism 23 of the invention.
The invention provides a cleaning method of an intelligent oil tank cleaning robot, which adopts the intelligent oil tank cleaning robot and comprises the following steps:
entering a tank body step: the cleaning robot expands the auxiliary arm 4 and the movable supporting leg 2, and the cleaning robot is guided to enter the oil tank from the tank inlet of the oil tank to be cleaned through the guiding ladder;
and (3) cleaning the tank top: the cleaning robot runs to a first preset position along the central axis of the oil tank, and the movable supporting leg 2 arranged at the rear end is unfolded in an H shape to clean the tank top;
cleaning the outer wall of the inner cylinder: the cleaning robot runs to the outer wall of the inner cylinder of the oil tank, and then runs an automatic cleaning program (or a manual cleaning program) of the outer wall of the inner cylinder to clean the outer wall of the inner cylinder;
and (3) cleaning an oil pipe: after the operator confirms that the cleaning is finished, the cleaning robot retreats to a second preset position to carry out mobile cleaning on the along-road spider net oil pipe 8;
the inner wall of the outer cylinder is cleaned: the cleaning robot runs to the inner wall of the outer cylinder of the oil tank to clean the inner wall of the outer cylinder;
after confirming that the area is cleaned, the cleaning robot adjusts the direction and repeats the above operation until all the units are cleaned. (the operation steps are one cleaning unit operation cycle, the secondary tank can be divided into 9 units in the clockwise and anticlockwise directions.) after cleaning is finished, the cleaning robot goes out of the tank and enters the container.
When the cleaning robot enters the oil tank to be cleaned, the cleaning robot needs to enter from an inlet (the maximum inlet size allowed by an oil field) of the special robot, and different oil fields have different requirements on the size, so that the cleaning robot needs to have smaller width and height to smoothly enter the tank body. The invention provides a cleaning method of an intelligent oil tank cleaning robot, which adopts the technologies of arm support folding, rotating and unfolding, movable supporting leg 2 folding and unfolding and the like to solve the problem that the cleaning robot is difficult to enter a tank.
In this embodiment, when the cleaning robot enters the tank, the crawler-type cleaning robot can enter the tank from the tank inlet by means of a special guiding ladder because the tank inlet of the tank is 300mm to 600mm away from the ground. Through the deformation of the cleaning robot (i.e. through forward rotation of the movable leg 2, the coupling joint 52 rotates 180 °, and the auxiliary arm 4 rotates to the rear of the cleaning robot, so that the overall deformation of the cleaning robot reaches the minimum width and height, wherein the tank inlet size of the oil tank in this embodiment is 850mm×900 mm), the coupling joint 52 rotates the auxiliary arm 4 below the telescopic main arm 3, so that the tank inlet height of the cleaning robot is the sum of the heights of the telescopic main arm 3 and the chassis, and referring to fig. 7 (the lengths of the telescopic main arm 3 and the auxiliary arm 4 do not affect the tank inlet size). The movable supporting leg 2 is connected with the chassis structure through a rotating seat key, and the front and back rotation of the movable supporting leg 2 is realized under the action of a rotating oil cylinder in the chassis, and the illustrated positions of fig. 5-7 are reached with reference to fig. 3-4, so that the height of the cleaning robot is reduced, and the tank filling requirement is met. The length of the movable supporting leg 2 is determined by the purpose that the cleaning robot achieves the stability of the operation during the cleaning operation, the robot is not influenced by the length of the movable supporting leg 2 through front-back overturning, and when the robot reaches the slope on the inner side of the guiding ladder tank, the movable supporting leg 2 is rotated to the bottom surface of the oil storage tank to support the cleaning robot, so that the cleaning robot can smoothly reach the inside of the oil storage tank.
After the cleaning robot enters the tank, the cleaning robot withdraws the unfolded auxiliary arm 4 and withdraws the movable supporting leg 2, and the cleaning robot advances according to the condition in the tank according to a planned route. After the robot reaches a preset cleaning operation position, the robot can move or perform fixed-point cleaning according to the construction environment. In the fixed-point cleaning state, the supporting rod 22 connected with the supporting leg 24 can be turned over under the action of the third telescopic mechanism 23, and the movable supporting leg 2 is unfolded in an H shape with reference to fig. 8-9, so that the stability of the cleaning robot in the fixed cleaning operation is ensured. The fixed-point cleaning state mainly comprises the cleaning of the outer wall of the inner cylinder and the inner wall of the outer cylinder of the oil tank, and the cleaning modes comprise automatic cleaning, semi-automatic cleaning and manual cleaning.
When the robot moves to clean, through the action of the chassis supporting leg overturning oil cylinder in the chassis assembly 1 module, the movable supporting leg 2 rotates and overturns to the joint of the universal wheel 25 and the ground, so that the movable supporting leg 2 is unfolded in an X shape, and the cleaning robot is enabled to ensure the working stability during moving and cleaning, wherein the cleaning robot is mainly in a manual cleaning mode during moving.
The cleaning robot can automatically clean the tank wall of the oil tank up and down or swing-cleaning through a preset program under the action of the telescopic main arm 3, the auxiliary arm 4 and the swing connection assembly 5, and reference is made to fig. 13.
The cleaning robot expands the movable supporting leg 2 in an H-shaped manner in a cleaning mode after guiding the ladder to enter the tank and driving to a specified operation place along a specified route, the telescopic main arm 3 is lifted up under the action of the oil cylinder and expanded in a five-section arm mode, so that the spray head at the tail end of the auxiliary arm 4 can be lifted up to a cleaning height section, and the first telescopic mechanism 32, the rotating mechanism at the rotary connecting assembly 5 and the second telescopic mechanism 42 are matched with the joints of the cleaning arm 6 through a preset control program, so that the spray nozzle on the cleaning head 7 reciprocates in the vertical direction and the cleaning distance between the spray nozzle and the inner cylinder is kept unchanged basically, and the stable cleaning operation is ensured. The high-pressure and high-temperature water is conveyed from outside the tank to a spray head of the cleaning head 7 through a cleaning robot composite cable to clean the inner tank, so that the up-down cleaning operation is realized, and the figure 12 can be referred to specifically.
When the cleaning robot performs the swinging cleaning operation, the preset program controls the cooperation of the swing connection assembly 5, the second telescopic mechanism 42 of the auxiliary arm 4, the first telescopic mechanism 32 of the telescopic main arm 3 and the joint action of the cleaning arm 6, so that the nozzle moves along the path shown in fig. 14 and keeps the distance from the wall of the inner tank unchanged, and the swinging cleaning operation is further realized.
Further, the oil pipe cleaning step specifically comprises the following steps: the cleaning robot retreats to a second preset position, an operator observes a specific working environment in real time through a camera arranged at the chassis assembly 1 and the cleaning arm 6, controls the telescopic quantity and the rotating direction of the telescopic main arm 3, specifically controls the first telescopic mechanism 32 of the telescopic main arm 3, the second telescopic mechanism 42 of the auxiliary arm 4, the rotary connecting assembly 5 and the rotating mechanism at the cleaning arm 6, so that the cleaning arm 6 does not collide with the tank inner structure and simultaneously carries out omnibearing cleaning on an oil pipe, and further semi-automatic mobile cleaning is completed.
Further, the cleaning step of the inner wall of the outer cylinder specifically comprises the following steps: after confirming that the oil pipe along the road at the second preset position is cleaned, the cleaning robot retreats to the third preset position, the movable supporting leg 2 arranged at the rear end of the chassis assembly 1 is unfolded in an H shape, and at the moment, the cleaning robot runs an automatic cleaning program or a manual cleaning program to perform fixed-point cleaning on the inner wall of the outer cylinder of the oil tank.
Further, the cleaning robot is communicated with the high-pressure boiler through a composite cable, the cleaning water pressure is 25Mpa, and the cleaning water temperature is 90 ℃. Because the water pressure during manual cleaning operation is 15Mpa at maximum, the water temperature is 85 ℃ at maximum, and operators need to lift up a scaffold to ascend during manual cleaning, the recoil force at the tail end of a water pipe, the high-temperature water splashed back by the wall of an oil tank and the operation height can all cause great potential safety hazards in wall cleaning operation, and a wall cleaning robot is used for carrying out the operation.
Further, when the cleaning robot moves to clean, the movable supporting leg 2 rotates or turns over until the universal wheel 25 is attached to the ground, so that the movable supporting leg 2 is unfolded in an X shape. Through the arrangement, the working stability of the cleaning robot during mobile cleaning is greatly improved, and the reliability of the cleaning operation of the oil tank is further ensured.
In summary, according to the intelligent oil tank cleaning robot and the cleaning method, the problems that in the prior art, a manual scaffold is needed for cleaning the settling tank, the cleaning efficiency is low, the cleaning quality is poor, the safety is low, the health is endangered and the like are solved by aiming at the blank of intelligent cleaning equipment of the settling tank in the market; on the other hand, can also solve the vault vertical settling cask manual cleaning technology problem of fixed top, cleaning robot cleaning pressure can reach 25MPa when wasing, and the washing water temperature is greater than 85 ℃, and cleaning effect is better, and manual cleaning water pressure can only reach 15MPa generally, and the washing temperature is about 85 ℃, to the thicker regional needs the repeated washing of greasy dirt can, and a lot of areas can't wash in place, and cleaning robot can then pass through planning cleaning route and cleaning scheme to adopt automatic or semi-automatic washing to the biggest region of work load (like inner tube outer wall and urceolus inner wall), thereby improved the cleaning efficiency of oil tank to a great extent.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (2)
1. The intelligent oil tank cleaning robot is characterized by comprising a chassis assembly, a plurality of movable supporting legs, a telescopic main arm, an auxiliary arm, a rotary connecting assembly, a cleaning arm, a cleaning head and a control mechanism;
the two sides of the front end and the two sides of the rear end of the chassis assembly are respectively provided with movable supporting legs which are arranged in pairs; the telescopic main arm is movably arranged above the chassis assembly; the auxiliary arm is arranged above the telescopic main arm, one end of the auxiliary arm is connected with the telescopic main arm through the rotary connecting assembly, the other end of the auxiliary arm is movably connected with one end of the cleaning arm, the cleaning arm is arranged above the telescopic main arm in a telescopic and rotatable manner, and a camera is arranged on the cleaning arm; the rotary coupling assembly comprises a rotary speed reducing motor and a coupling joint; the rotary speed reducing motor is rotatably arranged on the telescopic main arm; one end of the connecting joint is connected with the rotary speed reducing motor, and the other end of the connecting joint is connected with the auxiliary arm so that the auxiliary arm main body rotates by 360 degrees with the central axis of the telescopic arm main body; the cleaning head is movably arranged at the other end of the cleaning arm; the chassis assembly, the movable supporting legs, the telescopic main arm, the auxiliary arm and the cleaning arm are electrically connected with the control mechanism;
the telescopic main arm comprises a plurality of telescopic arm main bodies and a first telescopic mechanism; the telescopic arm main bodies are arranged above the chassis assembly, and all the telescopic arm main bodies are nested; the telescopic arm body is connected with the first telescopic mechanism in a telescopic way; the auxiliary arm comprises a plurality of auxiliary arm main bodies and a second telescopic mechanism; all the auxiliary arm main bodies are nested and arranged, and are connected with the telescopic main arm through the rotary connecting assembly; the second telescopic mechanism is connected with the auxiliary arm main body in a telescopic way;
the movable supporting leg comprises a rotating seat assembly, a supporting rod, a third telescopic mechanism, a supporting foot and universal wheels; the rotating seat assembly is arranged on the chassis assembly; one end of the supporting rod is hinged with the rotating seat assembly; one end of the third telescopic mechanism is hinged with the rotating seat assembly, and the other end of the third telescopic mechanism is hinged with the supporting rod; the support legs are arranged on the rotating seat assembly; the universal wheel is rotatably arranged between the third telescopic mechanism and the support leg, and the universal wheel is arranged on the rotating seat assembly;
when the cleaning robot is in a transportation state, the telescopic main arm, the auxiliary arm and the movable supporting legs are folded; when the cleaning is in an initial cleaning state, the movable supporting leg arranged at the rear end is unfolded in an H shape, and the telescopic arm main body is lifted by 0-90 degrees under the action of the oil cylinder.
2. A cleaning method of an intelligent oil tank cleaning robot, characterized in that an intelligent oil tank cleaning robot according to claim 1 is adopted, comprising the steps of:
entering a tank body step: the cleaning robot expands the auxiliary arm and the movable supporting leg, and the cleaning robot is guided to enter the oil tank from the tank inlet of the oil tank to be cleaned through the guiding ladder;
and (3) cleaning the tank top: the cleaning robot runs to a first preset position along the central axis of the oil tank, and a movable supporting leg arranged at the rear end is unfolded in an H shape to clean the tank top;
cleaning the outer wall of the inner cylinder: the cleaning robot runs to the outer wall of the inner cylinder of the oil tank to clean the outer wall of the inner cylinder;
and (3) cleaning an oil pipe: the cleaning robot retreats to a second preset position, an operator observes the working environment in real time through a camera arranged at the chassis assembly and the cleaning arm, and the cleaning arm does not collide with the tank inner structure and semi-automatically moves and cleans the oil pipe by controlling the telescopic quantity and the rotating direction of the telescopic main arm;
the inner wall of the outer cylinder is cleaned: the cleaning robot retreats to a third preset position, a movable supporting leg arranged at the rear end of the chassis assembly is unfolded in an H shape, and the cleaning robot runs an automatic cleaning program or a manual cleaning program to clean the inner wall of the outer cylinder of the oil tank;
the above-mentioned operation steps are a cleaning operation cycle;
when the cleaning robot moves for cleaning, the movable supporting legs rotate or overturn until the universal wheels are attached to the ground, so that the movable supporting legs are unfolded in an X shape.
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| CN115007580A (en) | 2022-09-06 |
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