CN209736276U - Magnetic adsorption type oil tank decontamination robot - Google Patents
Magnetic adsorption type oil tank decontamination robot Download PDFInfo
- Publication number
- CN209736276U CN209736276U CN201920262968.XU CN201920262968U CN209736276U CN 209736276 U CN209736276 U CN 209736276U CN 201920262968 U CN201920262968 U CN 201920262968U CN 209736276 U CN209736276 U CN 209736276U
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- magnetic adsorption
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 32
- 238000005202 decontamination Methods 0.000 title claims abstract description 11
- 230000003588 decontaminative effect Effects 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000002347 injection Methods 0.000 claims abstract description 17
- 239000007924 injection Substances 0.000 claims abstract description 17
- 238000005507 spraying Methods 0.000 claims abstract description 13
- 230000005389 magnetism Effects 0.000 claims abstract description 10
- 230000000295 complement effect Effects 0.000 claims abstract description 7
- 230000009467 reduction Effects 0.000 claims abstract description 7
- 238000004140 cleaning Methods 0.000 claims description 16
- 239000007921 spray Substances 0.000 claims description 16
- 238000013016 damping Methods 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000010813 municipal solid waste Substances 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims 1
- 239000010802 sludge Substances 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 12
- 238000003860 storage Methods 0.000 description 7
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000000926 separation method Methods 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
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- Cleaning In General (AREA)
Abstract
The utility model provides a magnetism adsorbs formula oil tank robot of decontaminating, hinders complementary unit, upper cover, walking motor, reduction gear and leading camera including fuselage, injection mechanism, magnetism adsorption type crawler, rearmounted camera, disk, the fuselage is sealed, injection mechanism installs on upper cover upper portion, magnetism adsorption type crawler has two, distributes in fuselage left side and right side, the disk hinders complementary unit more has two, installs respectively in fuselage the place ahead and rear, the walking motor has two, installs respectively in the inside left and right sides of fuselage, leading camera is installed in fuselage the place ahead. The novel beneficial part is: the robot can be unfolded to work on the inner wall of the oil tank, so that the robot is prevented from directly contacting with oil sludge, and the damage of the oil sludge to the robot is reduced; the spraying radius and the spraying direction can be adjusted through a motor, so that the oil sludge can be cleaned in all directions, and the oil tank decontamination efficiency is effectively improved; the whole process of the remote control device can be controlled and monitored by the camera, and manpower is saved.
Description
Technical Field
The utility model relates to an industry jar body belt cleaning device, specifically speaking are magnetic adsorption formula oil tank robot of decontaminating.
Background
In the petrochemical industry, because the oil quality is difficult to guarantee, a part of oil sludge can be accumulated at the bottom of the oil storage tank, the oil-containing sludge is a serious pollution source and contains various toxic and harmful substances, and the accumulation of the oil sludge at the bottom of the tank not only influences the quality of the oil product, but also influences the volume of the oil storage tank, aggravates the corrosion of the oil tank, and can cause the perforation at the bottom of the oil storage tank in serious conditions, thereby causing accidents such as oil leakage and the like. When the oil storage tank is refilled with different types of oil, the two types of oil cannot be mixed, so the residue in the tank must be cleaned.
At present, the oil storage tank is cleaned in a manual cleaning mode, a mechanical cleaning mode and the like, the manual cleaning mode belongs to high-risk operation, time and labor are wasted, the danger is high, the damage to people is large during operation, and the working efficiency is low. The mechanical cleaning mode is divided into a plurality of modes such as a jet cleaning system and a cleaning robot, the jet cleaning system is mostly introduced abroad, the price is high, the system is huge, and the transportation cost is high; the existing cleaning robot can only move at the bottom of the tank, is easily polluted by oil sludge, and easily causes the problems of unstable work and the like.
SUMMERY OF THE UTILITY MODEL
To foretell not enough, the utility model provides a magnetism adsorbs formula oil tank robot of decontaminating, aim at improves oil storage tank bottoms fatlute cleaning work's degree of automation and reduce cost, improves the walking ability of robot of decontaminating.
The utility model discloses a realize through following technical scheme: the utility model provides a magnetism adsorbs formula oil tank robot of decontaminating, hinders complementary unit, upper cover, walking motor, reduction gear and leading camera including fuselage, injection mechanism, magnetism adsorption type track mechanism, rearmounted camera, disk, the fuselage is sealed, injection mechanism installs on upper cover upper portion, magnetism adsorption type track mechanism has two, distributes in fuselage left side and right side, rearmounted camera is installed at the fuselage rear, the disk hinders complementary unit more has two, installs respectively at fuselage the place ahead and rear, the upper cover is installed on fuselage upper portion to be equipped with the strengthening rib, the walking motor has two, installs respectively in the inside left and right sides of fuselage, output shaft reduction gear input shaft, leading camera is installed in fuselage the place ahead.
In the aforesaid magnetism adsorbs among oil tank decontamination robot, the injection mechanism includes horizontal hunting support, horizontal hunting motor, horizontal hunting pinion, horizontal hunting gear wheel, luffing motion support, luffing motion motor, shower nozzle extension pipe, injection light, shower nozzle, sprays observation camera, rotation two-way, hose and screwed pipe, horizontal hunting support is fixed above the upper cover, horizontal hunting motor installs on horizontal hunting support, horizontal hunting pinion installs on horizontal hunting motor's output shaft, horizontal hunting gear wheel passes through the bearing and installs on horizontal hunting support, can wind its central rotation to mesh with horizontal hunting pinion, horizontal hunting support is fixed on horizontal hunting gear wheel upper portion, the luffing motion motor is installed on the luffing motion support, it installs on luffing motion support through both sides bearing to rotate two-way, and can rotate around its center under the drive of luffing motion motor, it is the intercommunication pipeline to rotate two logical middle parts, and the pipeline both ends are equipped with the coupling that has the external screw thread, the shower nozzle extension pipe is installed in the pipeline one end of rotating two logical through threaded connection, the injection light is installed in shower nozzle extension pipe top one side, the shower nozzle is installed on shower nozzle extension pipe top, spray and observe the camera and install on shower nozzle extension pipe top, the screwed pipe is fixed on the upper cover surface, the screwed pipe passes through the hose with the rotation two logical and links to each other, constitutes the connected state with shower nozzle, shower nozzle extension pipe, rotation two logical and hose.
In the aforementioned magnetic adsorption type oil tank decontamination robot, the magnetic adsorption type crawler mechanisms comprise chain magnets, chains, chain wheels, anti-skid rubber blocks, eight tensioning small wheels, four tensioning turnbuckles and damping devices, the eight chain wheels are symmetrically arranged in the magnetic adsorption type crawler mechanisms on the left side and the right side of the machine body, in each magnetic adsorption type crawler mechanism, the front two chain wheels are driving chain wheels and are arranged on the output shaft of the reducer side by side, the rear chain wheel is a driven chain wheel and is arranged on the outer side of the machine body through a bearing, the four chain wheels are arranged on the chain wheels, the chain magnets are arranged in a plurality of ways and span between the two chains on the same side of the machine body, the two ends of each chain magnet are respectively fixed on chain links at the parallel positions of the two chains through anti-skid screws, the number of the anti-skid rubber blocks is a plurality, one is arranged on each of the two, the chain tensioning device is characterized in that one tensioning turnbuckle is arranged on the inner side of each chain, two tensioning turnbuckles are arranged, one end of each bolt is connected with the machine body, the other end of each bolt is connected with two tensioning small wheels, the chain is tightened when the two ends of each tensioning turnbuckle extend out, the chain is loosened when the two ends of each tensioning turnbuckle retract, the damping device is provided with two sets, each set is composed of two sets of springs, and one set is arranged in each magnetic adsorption type crawler mechanism.
The novel device has the advantages that: compared with the prior art, the novel wall-climbing robot is used as a carrier of the injection device, and can be unfolded to work on the inner wall of the oil tank, so that the robot is prevented from directly contacting with oil sludge, and the damage of the oil sludge to the robot is reduced; the robot can walk on the inner wall of the oil tank without being influenced by the depth of the oil sludge, so that the application range of the robot is enlarged; the magnetic adsorption type caterpillar band is used for replacing the traditional caterpillar band, so that the passability of the sewage disposal robot is increased, the realization is convenient, the cost is low, the automation degree is high, the reliability is high, and the safety is good; the spraying radius and the spraying direction can be adjusted through a motor, so that the oil sludge can be cleaned in all directions, and the oil tank decontamination efficiency is effectively improved; the robot is in a sealing state, so that the corrosion of harmful gas in the oil tank to internal circuits is prevented; the whole process of the remote control device can be controlled and monitored by the camera, and manpower is saved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
Fig. 2 is a schematic view of the injection mechanism of fig. 1 in accordance with the present invention;
Fig. 3 is a schematic view of the magnetic adsorption type crawler mechanism shown in fig. 1 according to the present invention;
Fig. 4 is a schematic diagram illustrating an operation state of fig. 1 according to the present invention.
in the figure, 1, a machine body, 2, an injection mechanism, 201, a left-right swing support, 202, a left-right swing motor, 203, a left-right swing pinion, 204, a left-right swing big gear, 205, a left-right swing support, 206, a left-right swing motor, 207, a spray head extension pipe, 208, an injection illuminating lamp, 209, a spray head, 210, an injection observation camera, 211, a rotation two-way, 212, a hose, 213, a threaded pipe, 3, a magnetic adsorption type crawler mechanism, 301, a chain magnet, 302, a chain, 303, a chain wheel, 304, an anti-skid rubber block, 305, a tensioning small wheel, 306, a tensioning basket bolt, 307, a damping device, 4, a rear camera, 5, a disc type obstacle crossing auxiliary mechanism, 6, an upper cover, 7, a walking motor, 8, a speed reducer, 9 and a front camera.
Detailed Description
the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention based on the embodiments of the present invention.
Referring to fig. 1, the present invention provides a technical solution: the utility model provides a magnetic adsorption formula oil tank trash cleaning robot, includes fuselage 1, injection mechanism 2, magnetic adsorption formula crawler attachment 3, rearmounted camera 4, the disk hinders complementary unit 5, upper cover 6, walking motor 7, reduction gear 8 and leading camera 9 more, fuselage 1 is sealed, injection mechanism 2 installs on 6 upper portions of upper cover, magnetic adsorption formula crawler attachment 3 has two, distributes in 1 left side of fuselage and right side, rearmounted camera 4 is installed in 1 rear of fuselage, the disk hinders complementary unit 5 more has two, installs respectively in 1 the place ahead of fuselage and rear, upper cover 6 is installed on 1 upper portion of fuselage to be equipped with the strengthening rib, walking motor 7 has two, installs respectively in 1 inside left and right sides of fuselage, the 8 input shafts of output shaft reduction gear, leading camera 9 is installed in fuselage the place ahead.
Referring to fig. 2, in the aforementioned magnetic adsorption type oil tank cleaning robot, the spraying mechanism 2 includes a left-right swing bracket 201, a left-right swing motor 202, a left-right swing pinion 203, a left-right swing gearwheel 204, a top-bottom swing bracket 205, a top-bottom swing motor 206, a spray head extension pipe 207, a spray head 208, a spray head 209, a spray observation camera 210, a two-way rotation 211, a hose 212 and a threaded pipe 213, the left-right swing bracket 201 is fixed above the upper cover 6, the left-right swing motor 202 is installed on the left-right swing bracket 201, the left-right swing pinion 203 is installed on an output shaft of the left-right swing motor 202, the left-right swing gearwheel 204 is installed on the left-right swing bracket 201 through a bearing, can rotate around the center thereof and is engaged with the left-right swing pinion 203, the top-bottom swing bracket 205, the luffing motion motor 206 is installed on luffing motion support 205, it installs on luffing motion support 205 through both sides bearing to rotate two logical 211 to can be rotatory around its center under luffing motion motor 206's drive, it is the intercommunication pipeline to rotate two logical 211 middle parts, and the pipeline both ends are equipped with the coupling that has the external screw thread, shower nozzle extension pipe 207 passes through threaded connection and installs the pipeline one end of rotating two logical 211, spray illumination lamp 208 installs in shower nozzle extension pipe 207 top one side, shower nozzle 209 is installed on shower nozzle extension pipe 207 top, it installs on shower nozzle extension pipe 207 top to spray observation camera 210, screwed pipe 213 is fixed on upper cover 6 surface, screwed pipe 213 links to each other through hose 212 with rotating two logical 211, constitutes the connected state with shower nozzle 209, shower nozzle extension pipe 207, rotating two logical 211 and hose 212.
Referring to fig. 3, in the aforementioned magnetic adsorption type oil tank cleaning robot, the magnetic adsorption type crawler 3 includes eight chain magnets 301, chains 302, chain wheels 303, anti-skid rubber blocks 304, small tensioning wheels 305, tensioning turn-buckle bolts 306 and damping devices 307, the chain wheels 303 are symmetrically installed in the magnetic adsorption type crawler 3 on the left and right sides of the body 1, in each magnetic adsorption type crawler 3, the front two chain wheels 303 are driving chain wheels 303 and installed side by side on the output shaft of the reducer 8, the rear chain wheel 303 is a driven chain wheel 303 and installed outside the body 1 through bearings, the chains 302 are four and installed on the chain wheels 303, the chain magnets 301 are provided in number and span between the two chains 302 on the same side of the body 1, two ends of each chain magnet 301 are respectively fixed on the chain links at the parallel positions of the two chains 302 through locking screws, the anti-skidding rubber block 304 has a plurality of, and one is respectively installed to every chain magnet 301 both sides, tensioning steamboat 305 has four, and one is installed to every chain 302 inboard, tensioning turn buckle 306 has two, and fuselage 1 is connected to every bolt one end, and two tensioning steamboat 305 are connected to the other end, and it is tight to make chain 302 when tensioning turn buckle 306 both ends are stretched out, makes chain 302 lax when tensioning turn buckle 306 both ends retract, damping device 307 has two sets, and each set comprises two sets of springs, respectively installs one set in every magnetism absorption formula crawler attachment 3.
The working principle is as follows: the utility model discloses a work of decontaminating of whole oil tank specifically can divide into two stages: a preparation phase and a decontamination phase, as shown in fig. 4. In the preparation stage, firstly, the nitrogen generation device, the water tank, the water pump, the oil-water separation device, the hoisting mechanism and the like are arranged near the oil tank, and the hoisting mechanism is used for winding and collecting the pipeline for water delivery and winding and unwinding the pipeline along with the advance and retreat of the robot, so that the pipeline is prevented from being wound and the cleaning work is prevented from being influenced. Then nitrogen is filled into the tank body, and the next stage of work can be started when the oxygen content in the tank is detected to be lower than 8%. In the decontamination stage, a pipeline for conveying high-pressure water is firstly connected to a threaded pipe 213 positioned above the robot, then the robot enters the oil storage tank from a manhole along the guide ladder and climbs to the inner wall of the oil tank, the advancing line can be observed by the front camera 9 and the rear camera 4 in the process, the robot is prevented from deviating from the guide ladder, and finally the guide ladder is pulled out. When the robot moves, the magnetic adsorption type crawler mechanism 3 and the disc type obstacle crossing auxiliary mechanism 5 are tightly adsorbed on the surface of the inner wall of the tank body under the action of the magnets, an operator starts the walking motor 7 through a remote controller, power is transmitted to the chain wheel 303 from the walking motor 7 through the speed reduction and torque increase of the speed reducer 8 and then transmitted to the chain 302 through meshing with the chain 302, the robot is slowly pushed to climb forwards, at the moment, a water pump switch is opened, the spraying mechanism 2 sprays high-pressure water jet to wash down oil sludge, the spraying head 209 can swing left and right through the rotation of the left-right swinging motor 202 controlled by remote control, the spraying head 209 can swing up and down through the rotation of the up-down swinging motor 206 controlled by remote control, water flow sprayed by the spraying head 209 can draw a Z-shaped track from the inside to the outside of the tank bottom through the two swings, and the spraying lamp 208 arranged on the, the real-time monitoring of the decontamination operation can be realized by the image returned by the jet observation camera 210. The oil stain washed by the high-pressure water jet is pumped into the oil-water separation mechanism for oil-water separation, so that the high-efficiency utilization of resources is realized. After the area is cleared, the walking motor 7 is started to push the robot to move for a certain distance, the clearing work is continued, in order to avoid the winding of the pipeline, the robot returns after moving for a half circle, then moves for a half circle along the opposite direction from the original point, and after the moving is finished, the first time of flushing is finished. After oil and water are drained, whether residual oil stains exist can be observed through the jet observation camera 210, if the residual oil stains exist, the walking motor 7 is started to enable the robot to move to a position to be cleaned for secondary cleaning, if the residual oil stains exist, the robot backs to the position of the robot to be cleaned and is taken out along the guide ladder, and the pipeline knotting can be effectively prevented by matching with a walking method that a winding mechanism and the robot back.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (3)
1. The utility model provides a magnetic adsorption formula oil tank trash cleaning robot, includes fuselage (1), injection mechanism (2), magnetic adsorption formula crawler attachment (3), rearmounted camera (4), disk obstacle crossing complementary unit (5), upper cover (6), walking motor (7), reduction gear (8) and leading camera (9), its characterized in that: the novel robot is characterized in that the robot body (1) is sealed, the injection mechanism (2) is installed on the upper portion of the upper cover (6), the magnetic adsorption type crawler mechanisms (3) are two and distributed on the left side and the right side of the robot body (1), the rear camera (4) is installed at the rear of the robot body (1), the disc type obstacle crossing auxiliary mechanisms (5) are two and are respectively installed on the front and the rear of the robot body (1), the upper cover (6) is installed on the upper portion of the robot body (1) and provided with reinforcing ribs, the traveling motors (7) are two and are respectively installed on the left side and the right side of the interior of the robot body (1), the input shafts of the output shaft speed reducers (8) are connected, and the front camera.
2. the magnetic adsorption type oil tank decontamination robot according to claim 1, characterized in that: the spraying mechanism (2) comprises a left-right swinging support (201), a left-right swinging motor (202), a left-right swinging pinion (203), a left-right swinging gearwheel (204), a top-bottom swinging support (205), a top-bottom swinging motor (206), a spray head extension pipe (207), a spraying illuminating lamp (208), a spray head (209), a spraying observation camera (210), a rotating two-way pipe (211), a hose (212) and a threaded pipe (213), wherein the left-right swinging support (201) is fixed above an upper cover (6), the left-right swinging motor (202) is installed on the left-right swinging support (201), the left-right swinging pinion (203) is installed on an output shaft of the left-right swinging motor (202), the left-right swinging gearwheel (204) is installed on the left-right swinging support (201) through a bearing, can rotate around the center of the left-right swinging motor and is, the utility model discloses a shower nozzle, including luffing motion support (205), luffing motion motor (206), luffing motion support (205) are fixed on luffing motion gear wheel (204) upper portion, luffing motion motor (206) is installed on luffing motion support (205), it installs on luffing motion support (205) upper portion through both sides bearing to rotate two logical (211), and can be rotatory around its center under the drive of luffing motion motor (206), it is the intercommunication pipeline to rotate two logical (211) middle parts, and the pipeline is equipped with the coupling that has the external screw thread at two ends, shower nozzle extension pipe (207) are installed in the pipeline one end of rotating two logical (211) through threaded connection, install in shower nozzle extension pipe (207) top one side injection light (208), shower nozzle (209) are installed on shower nozzle extension pipe (207) top, it installs on shower nozzle extension pipe (207) top to spray observation camera (210), threaded pipe (213) are fixed on, the threaded pipe (213) is connected with the rotary two-way pipe (211) through a hose (212) and is communicated with the spray head (209), the spray head extension pipe (207), the rotary two-way pipe (211) and the hose (212).
3. The magnetic adsorption type oil tank decontamination robot according to claim 1, characterized in that: the magnetic adsorption type crawler mechanism (3) comprises chain magnets (301), chains (302), chain wheels (303), anti-skidding rubber blocks (304), small tensioning wheels (305), tensioning turn-buckle bolts (306) and a damping device (307), wherein the chain wheels (303) are eight, are symmetrically arranged in the magnetic adsorption type crawler mechanism (3) on the left side and the right side of the machine body (1), in each magnetic adsorption type crawler mechanism (3), the front two chain wheels (303) are driving chain wheels (303) and are arranged on an output shaft of the speed reducer (8) side by side, the rear chain wheels (303) are driven chain wheels (303) and are arranged on the outer side of the machine body (1) through bearings, the chains (302) are four and are arranged on the chain wheels (303), the chain magnets (301) are a plurality of and span between the two chains (302) on the same side of the machine body (1), two ends of each chain magnet (301) are respectively fixed on chain links of the parallel positions of the two chains (302) through screws, anti-skidding rubber block (304) have a plurality of, and one is respectively installed in every chain magnet (301) both sides, tensioning steamboat (305) have four, and one is installed to every chain (302) inboard, tensioning turn buckle (306) have two, and fuselage (1) is connected to every bolt one end, and two tensioning steamboat (305) are connected to the other end, make chain (302) tighten when tensioning turn buckle (306) both ends are stretched out, make chain (302) relax when tensioning turn buckle (306) both ends retract, damping device (307) have two sets, and each set comprises two sets of springs, respectively installs one set in every magnetism adsorbs formula crawler (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920262968.XU CN209736276U (en) | 2019-03-01 | 2019-03-01 | Magnetic adsorption type oil tank decontamination robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920262968.XU CN209736276U (en) | 2019-03-01 | 2019-03-01 | Magnetic adsorption type oil tank decontamination robot |
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| Publication Number | Publication Date |
|---|---|
| CN209736276U true CN209736276U (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920262968.XU Expired - Fee Related CN209736276U (en) | 2019-03-01 | 2019-03-01 | Magnetic adsorption type oil tank decontamination robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827710A (en) * | 2021-02-02 | 2021-05-25 | 聂大林 | Mechanical automatic spraying device based on computer vision |
| CN113231416A (en) * | 2021-06-16 | 2021-08-10 | 湖南苏试广博检测技术有限公司 | A high-efficient intelligent quick clean system for rinsing PQRL cabin thoroughly comprehensively |
| CN113441501A (en) * | 2021-07-07 | 2021-09-28 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN114147018A (en) * | 2021-11-09 | 2022-03-08 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
| CN115069621A (en) * | 2022-07-20 | 2022-09-20 | 河南工业大学 | Magnetic adsorption type cleaning robot |
| CN115106350A (en) * | 2022-07-13 | 2022-09-27 | 南华大学 | Device and method for cleaning inner wall surface of LNG storage tank |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
-
2019
- 2019-03-01 CN CN201920262968.XU patent/CN209736276U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112827710A (en) * | 2021-02-02 | 2021-05-25 | 聂大林 | Mechanical automatic spraying device based on computer vision |
| CN113231416A (en) * | 2021-06-16 | 2021-08-10 | 湖南苏试广博检测技术有限公司 | A high-efficient intelligent quick clean system for rinsing PQRL cabin thoroughly comprehensively |
| CN113441501A (en) * | 2021-07-07 | 2021-09-28 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN113441501B (en) * | 2021-07-07 | 2022-05-27 | 梧州科润润滑科技有限公司 | Intelligent storage tank detection cleaning robot |
| CN114147018A (en) * | 2021-11-09 | 2022-03-08 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
| CN114147018B (en) * | 2021-11-09 | 2023-01-20 | 合肥工业大学 | Oil storage tank mechanical cleaning device with large deformability |
| CN115106350A (en) * | 2022-07-13 | 2022-09-27 | 南华大学 | Device and method for cleaning inner wall surface of LNG storage tank |
| CN115106350B (en) * | 2022-07-13 | 2023-08-15 | 南华大学 | LNG storage tank inner wall surface cleaning device and cleaning method |
| CN115069621A (en) * | 2022-07-20 | 2022-09-20 | 河南工业大学 | Magnetic adsorption type cleaning robot |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20191206 |