CN201880718U - On-line cleaning robot for storage tank - Google Patents
On-line cleaning robot for storage tank Download PDFInfo
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- CN201880718U CN201880718U CN2010205722393U CN201020572239U CN201880718U CN 201880718 U CN201880718 U CN 201880718U CN 2010205722393 U CN2010205722393 U CN 2010205722393U CN 201020572239 U CN201020572239 U CN 201020572239U CN 201880718 U CN201880718 U CN 201880718U
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Abstract
The utility model provides an on-line cleaning robot for a storage tank, which comprises a sealing shell, a driving mechanism, a steering mechanism, high-pressure water-jet nozzles, a sludge pumping device and a PLC (Programmable Logic Controller) control system, wherein the driving mechanism comprises a direct-current servo driving motor, a driving shaft, a differential and a driving wheel; the steering mechanism comprises a direct-current servo steering motor, a steering driven bevel gear, a steering driving bevel gear, a steering shaft and a steering wheel, more than four high-pressure water-jet nozzles are symmetrically arranged at the front end and the rear end of the outside of the sealing shell, and two sludge pumping openings are symmetrically arranged at both sides of the sealing shell; the PLC control system, a motor driver and a power supply are arranged in a control cabinet and connected with the direct-current servo driving motor and the direct-current servo steering motor through cables, the on-line cleaning of the storage tank can be realized without stopping production for emptying or building a standby tank, and the investment is saved; sludge can be pumped to the outside of the tank by fully utilizing the static-pressure potential energy of liquid in the storage tank and through a siphon effect, and the energy-saving effect is remarkable; and the on-line cleaning robot is automatically controlled, the automatic cleaning is realized, and the on-line cleaning robot has the advantages of compact structure, flexible action and strong practicability.
Description
Technical field
The utility model relates to a kind of purpose-built washing equipment, especially a kind of purpose-built washing equipment that is used for the storage tank inner chamber.
Background technology
Storage tank is extensive application in each elephant of China, is mainly used in water-oil separating.Yet in accumulating is produced for a long time, heavy oil components such as the mechanical admixture in the oil product, the grains of sand, earth, heavy metal salt and paraffin and asphalitine can be because proportion be different natural subsidence, be accumulated in tank base, form the colloid substance layer, be storage tank bottom mud.These mud when its thickness acquires a certain degree, will have a strong impact on the accumulating production of sewage tank storage jar and the water treatment effect of system along with storage tank constantly accumulation running time, therefore must regularly remove it.
Jar end mud is rich in organic matter, complicated component, and directly the discharging meeting causes very big harm to environment.In addition, contain the crude oil class material in jar end mud, can recycle, improve oil recovery factor.Therefore storage tank mud cleans and carries out with recovery in constructing at the scene.The cleaning method of storage tank is divided into artificial and mechanical two kinds.At present, domestic most of oil field also rests on the stage of artificial cleaning, clear jar of time-consuming, effort and easily pollute the environment around the tank field and be detrimental to health.Domestic some storage tank automatic cleaning equipments of also having developed successively in recent years, for example, patent 200410043653.4-large stream tank cleaning machine; 200710016263.1-oil product storage tank cleaning hydraulic type self-controlled robot; ZL200820233747.1-petroleum storage tank cleaning equipment etc.These inventions can significantly alleviate the labour intensity of people when cleaning storage tank, improve cleaning efficiency.Yet these technology still need storage tank stopped production earlier and afterwards discharge water, and treat just can carry out washing and cleaning operation after the water emptying in the storage tank, can not realize on-line cleaning, need frequently to switch, and production process is discontinuous, needs to build stand-by storage, the increase cost of investment.
The utility model content
The purpose of this utility model is to avoid the deficiencies in the prior art, and a kind of storage tank on-line cleaning robot is provided.
The technical scheme that the utility model adopted is: a kind of storage tank on-line cleaning robot, comprise seal casinghousing, driving mechanism, steering mechanism, high-pressure water shot flow nozzle, mud pumping device and PLC control system, it is characterized in that driving mechanism is made up of DC servo drive motors, driving shaft, differential mechanism, driving wheel, the DC servo drive motors is connected with differential mechanism, differential mechanism is connected with driving shaft is coaxial, and the driving shaft two ends are equipped with driving wheel; Steering mechanism by the DC servo steer motor, turn to driven wheel of differential, turn to drive bevel gear, steering spindle, deflecting roller form, the rotating shaft of DC servo steer motor is meshed with turning to driven wheel of differential, turn to driven wheel of differential and turn to the drive bevel gear engagement, turn to drive bevel gear to be connected with steering spindle, the steering spindle two ends are deflecting roller; DC servo drive motors, DC servo steer motor, driving shaft, steering spindle, differential mechanism, turn to driven wheel of differential, turn to drive bevel gear to be arranged in seal casinghousing inside, high-pressure water shot flow nozzle more than four is arranged symmetrically in the outside rear and front end of seal casinghousing, and two mud are pumped mouth and are arranged symmetrically in the seal casinghousing both sides; PLC control system, motor driver and power supply are arranged in the switch board, link to each other with DC servo drive motors, DC servo steer motor by cable.
Seal casinghousing and base, control cable are static seal, adopt O shape circle and gasket seal sealing; Seal casinghousing and driving shaft and steering spindle are movable sealing, adopt the combination sealing of O shape circle and polytetrafluoroethylene (PTFE) slip ring.
Compared with prior art, the utility model has the advantages that: can realize the on-line cleaning of storage tank, need not the emptying that stops production, need not build slack tank, save investment; Can make full use of the static pressure potential energy of liquid in storage tank, by siphonic effect, mud be pumped to outside the jar, energy-saving effect is obvious; Automatically control realizes cleaning automatically, compact conformation, and flexible movements, practical.
Description of drawings
Fig. 1 is main TV structure figure of the present utility model.
Fig. 2 is a side-looking structure chart of the present utility model.
Fig. 3 is a fundamental diagram of the present utility model.
Fig. 4 is the utility model rotating shaft sealing structure schematic diagram.
Fig. 5 is the utility model steering mechanism structural representation.
Among the figure: 1 is driving wheel, and 2 is differential mechanism, and 3 is driving shaft, and 4 is the DC servo drive motors, 5 is jet nozzle, and 6 is steering spindle, and 7 is seal casinghousing, and 8 for turning to driven wheel of differential, 9 is deflecting roller, and 10 is the DC servo steer motor, and 11 pump mouth for mud, and 12 is the PLC control system, 13 is plunger displacement pump, and 14 is water under high pressure, and 15 is storage tank, 16 is mud, and 17 is cleaning robot, and 18 is the polytetrafluoroethylene (PTFE) slip ring, 19 is 0 shape circle, and 20 for turning to drive bevel gear, and 21 is the rotating shaft of DC servo steer motor.
The specific embodiment
A kind of storage tank on-line cleaning robot, comprise seal casinghousing 7, driving mechanism, steering mechanism, high-pressure water shot flow nozzle 5, mud pumping device and PLC control system 12, driving mechanism is made up of DC servo drive motors 4, driving shaft 3, differential mechanism 2, driving wheel 1, DC servo drive motors 4 is connected with differential mechanism 2, differential mechanism 2 and 3 coaxial connections of driving shaft, driving shaft 3 two ends are equipped with driving wheel 1; Steering mechanism by DC servo steer motor 10, turn to driven wheel of differential 8, turn to drive bevel gear 20, steering spindle 6, deflecting roller 9 form, DC servo steer motor rotating shaft 21 is meshed with turning to driven wheel of differential 8, turn to driven wheel of differential 8 and turn to drive bevel gear 20 engagements, turn to drive bevel gear 20 to be connected with steering spindle 6, steering spindle 6 two ends are deflecting roller 9; DC servo drive motors 4, DC servo steer motor 10, driving shaft 3, steering spindle 6, differential mechanism 2, turn to driven wheel of differential 8, turn to drive bevel gear 20 to be arranged in seal casinghousing 7 inside, high-pressure water shot flow nozzle 5 more than four is arranged symmetrically in seal casinghousing 7 outside rear and front ends, and two mud are pumped mouth 11 and are arranged symmetrically in seal casinghousing 7 both sides; PLC control system 12, motor driver and power supply are arranged in the switch board, link to each other with DC servo drive motors 4, DC servo steer motor 10 by cable.
Seal casinghousing 7 is a static seal with base, control cable, adopts O shape circle and gasket seal sealing; Seal casinghousing 7 is movable sealing with driving shaft 3 and steering spindle 6, adopts the combination sealing of O shape circle 19 and polytetrafluoroethylene (PTFE) slip ring 18.
As shown in Figure 3: when carrying out cleaning, cleaning robot 17 enters the jar from the roof manhole or the loophole of storage tank 15, advance at the bottom of jar according to the running orbit of setting, in the traveling process, water under high pressure 14 is transported to the jet nozzle 5 of cleaning robot rear and front end by high-pressure hose, mud evokes the formation fluidized state at the bottom of formation submerged jets at the bottom of the jar are with jar, pumps mouth 11 by mud and is transported to storage tank 15 outsides.Cleaning robot 17 running orbits are optimized design according to tank structure, and mud obtains full scale clearance at the bottom of guaranteeing jar.Pump to jar outer mud 16 and enter aftertreatment device and handle, realize the resource of mud is reclaimed and harmless treatment.
As shown in Figure 1, 2: seal casinghousing 7, not emptying of water in the storage tank 15, cleaning robot 17 need slip into tank base and carry out operation, the DC servo motor 4 and 10 and transmission mechanism of driven machine people walking is installed in cleaning robot 17 housings, can cause short circuit or not working if having water or other impurity to enter enclosure interior, therefore the positiver sealing of cleaning robot 17 housings is the essential condition that guarantee cleaning robot 17 on-line cleaning.The sealing of cleaning robot 17 can be divided into static seal and movable sealing two classes, wherein the sealing of housing cover and base and control cable pigtail be sealed into static seal, and wheel shaft 3 and 6 and the contact point place of housing 7 be movable sealing.Static seal adopts O shape circle and gasket seal, and the combination sealing mode of O-ring seals 19 and polytetrafluoroethylene (PTFE) slip ring 18 is adopted in movable sealing, as shown in Figure 2.Filled polytetrafluoroethylene has good self lubricity, and the anti-wear performance excellence also has with the metal surface and do not have sticking action, advantage that frictional resistance is little.The disadvantage of filled polytetrafluoroethylene is to lack flexibility, and does not have the self sealss ability, and O shape circle 19 has better elastic, polytetrafluoroethylene (PTFE) slip ring 18 is applied necessary elastic force, thereby make the slip ring combined type packing ring have the self sealss ability.This combination sealing has utilized the low coefficient of friction of polytetrafluoroethylene (PTFE) and the coefficient of waste, has reduced the coefficient of friction of seal thus, has improved the reliability and the service life of sealing, and this combination sealing has the little characteristics of physical dimension simultaneously.
The high-pressure water shot streaming system, the high-pressure water shot streaming system by plunger displacement pump 13, link flexible pipe and be installed in the seal casinghousing rear and front end respectively four jet nozzles 5 of symmetric arrangement form.Symmetric arrangement nozzle 5 can be offset the jet reaction force on the one hand, the sludge removal of cleaning robot 17 front and back can also be fallen on the other hand, prevents that wheel from skidding on mud.The water under high pressure 14 that plunger displacement pump 13 is got, be converted to the jet of low pressure high flow rate by the low flow rate regime of original high pressure through jet nozzle 5, continuously act on the mud of storage tank 15 bottoms with very high impact kinetic energy then, make cleaning robot 17 mud on every side form fluidized state.
The mud pumping device, when tank level during apparently higher than the mud discharging mouth, the potential energy that can directly utilize siphonic effect to rely on liquid level difference to form is directly pumped mouth 11 with the mud of fluidisation from the mud that is arranged in the cleaning robot both sides and is retracted to outside the jar, can save the energy consumption in the cleaning process like this.When not possessing the siphon condition, can install additional on the mud pumping pipeline slush pump with jar at the bottom of mud extract out.
Drive and steering mechanism, cleaning robot 17 need constantly be shifted one's position at the bottom of jar to remove the mud at jar each position, the end.Cleaning robot 17 provides driving force by DC servo motor 4, is differential mechanism 2 through reducing gear, drives driving shaft 3 and driving wheel 1 rotation.The steering mechanism of cleaning robot 17 then drives the steering mechanism that bevel gear 8 and 20 is formed by DC servo steer motor 10, as shown in Figure 5, turn to drive bevel gear 20 to be fixed on the machine shaft 21, and with turn to driven wheel of differential 8 engaged transmission, realize turning to of cleaning robot 17.
Claims (2)
1. storage tank on-line cleaning robot, comprise seal casinghousing, driving mechanism, steering mechanism, high-pressure water shot flow nozzle, mud pumping device and PLC control system, it is characterized in that driving mechanism is made up of DC servo drive motors, driving shaft, differential mechanism, driving wheel, the DC servo drive motors is connected with differential mechanism, differential mechanism is connected with driving shaft is coaxial, and the driving shaft two ends are equipped with driving wheel; Steering mechanism by the DC servo steer motor, turn to driven wheel of differential, turn to drive bevel gear, steering spindle, deflecting roller form, the rotating shaft of DC servo steer motor is meshed with turning to driven wheel of differential, turn to driven wheel of differential and turn to the drive bevel gear engagement, turn to drive bevel gear to be connected with steering spindle, the steering spindle two ends are deflecting roller; DC servo drive motors, DC servo steer motor, driving shaft, steering spindle, differential mechanism, turn to driven wheel of differential, turn to drive bevel gear to be arranged in seal casinghousing inside, high-pressure water shot flow nozzle more than four is arranged symmetrically in the outside rear and front end of seal casinghousing, and two mud are pumped mouth and are arranged symmetrically in the seal casinghousing both sides; PLC control system, motor driver and power supply are arranged in the switch board, link to each other with DC servo drive motors, DC servo steer motor by cable.
2. a kind of storage tank on-line cleaning according to claim 1 robot is characterized in that seal casinghousing and base, control cable are static seal, adopts O shape circle and gasket seal to seal; Seal casinghousing and driving shaft and steering spindle are movable sealing, adopt the combination sealing of O shape circle and polytetrafluoroethylene (PTFE) slip ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205722393U CN201880718U (en) | 2010-10-22 | 2010-10-22 | On-line cleaning robot for storage tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205722393U CN201880718U (en) | 2010-10-22 | 2010-10-22 | On-line cleaning robot for storage tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201880718U true CN201880718U (en) | 2011-06-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205722393U Expired - Fee Related CN201880718U (en) | 2010-10-22 | 2010-10-22 | On-line cleaning robot for storage tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201880718U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105032871A (en) * | 2015-06-25 | 2015-11-11 | 西安航空动力股份有限公司 | Cleaning device and method of finished oil tank |
| 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 |
| CN109384367A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | A kind of online minimizing processing unit of sludge of sewage treatment plant and method |
| CN109384275A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sump oil separates purifier and method |
| CN109384365A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sewage goes mud purification device and method |
| CN109384368A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sludge dewatering treatment apparatus and method |
| CN109403405A (en) * | 2018-10-31 | 2019-03-01 | 四川天宜石油化工工程有限公司 | Pool bottom sludge cleans trolley |
| CN109692854A (en) * | 2018-12-14 | 2019-04-30 | 东莞理工学院 | A kind of urban duct movable cleaning device |
| CN109719093A (en) * | 2018-12-14 | 2019-05-07 | 东莞理工学院 | A kind of underground piping automatic flushing device |
-
2010
- 2010-10-22 CN CN2010205722393U patent/CN201880718U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105032871A (en) * | 2015-06-25 | 2015-11-11 | 西安航空动力股份有限公司 | Cleaning device and method of finished oil tank |
| 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 |
| CN109384367A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | A kind of online minimizing processing unit of sludge of sewage treatment plant and method |
| CN109384275A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sump oil separates purifier and method |
| CN109384365A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sewage goes mud purification device and method |
| CN109384368A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sludge dewatering treatment apparatus and method |
| CN109403405A (en) * | 2018-10-31 | 2019-03-01 | 四川天宜石油化工工程有限公司 | Pool bottom sludge cleans trolley |
| CN109692854A (en) * | 2018-12-14 | 2019-04-30 | 东莞理工学院 | A kind of urban duct movable cleaning device |
| CN109719093A (en) * | 2018-12-14 | 2019-05-07 | 东莞理工学院 | A kind of underground piping automatic flushing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110629 Termination date: 20131022 |