CN215997944U

CN215997944U - Oil tank cleaning robot

Info

Publication number: CN215997944U
Application number: CN202121398453.6U
Authority: CN
Inventors: 李赳华; 汪兴潮; 杨志林
Original assignee: Shenzhen Xingzhixing Robot Technology Co ltd
Current assignee: Shenzhen Xingzhixing Robot Technology Co ltd
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2022-03-11
Anticipated expiration: 2031-06-22

Abstract

The utility model belongs to the technical field of cleaning robots, and particularly relates to an oil tank cleaning robot which comprises a machine body, traveling devices and a cleaning and recycling device, wherein the traveling devices are arranged on two sides of the machine body to drive the machine body to move; wash recovery unit including wasing water pipe, nozzle, soil pick-up pipe and soil pick-up head, wash the water pipe with the soil pick-up pipe all connect in the fuselage, the nozzle install in wash the end of water pipe and be used for spouting the water column, soil pick-up head detachably install in the end of soil pick-up pipe is used for retrieving the fatlute after the fluidization. When the oil tank cleaning machine travels in the oil tank, a water source conveyed by the cleaning water pipe is sprayed to the position of oil sludge in the oil tank through the nozzle to fluidize and solidify viscous oil sludge; meanwhile, in the process, the sewage suction head connected to the sewage suction pipe can recover the fluidized oil sludge, so that sewage recovery is realized.

Description

Oil tank cleaning robot

Technical Field

The utility model belongs to the technical field of cleaning robots, and particularly relates to an oil tank cleaning robot.

Background

The traditional mode of cleaning the oil tank is mostly manual cleaning, but has the risk of fire and explosion when the oil tank is manually cleaned, and most oil is poisonous and harmful to human health, and the oil tank has large volume and bottom area, often needs a plurality of people to work simultaneously, and has high labor intensity and high cleaning cost.

The technical scheme with the patent name of 'a finished oil inner floating roof tank cleaning robot' and the application number of 201610620054.7 provides a deformable finished oil inner floating roof tank cleaning robot, and compared with other crawler-type cleaning robots, the deformable finished oil inner floating roof tank cleaning robot is large in installation space and large in cleaning coverage. However, the robot mainly washes the bottom and the four walls of the tank by water jet, needs to deform before and after entering the tank, and has no sewage recovery device.

The technical solution of patent number 201210284715.5 entitled "a tank cleaning robot", proposes an omni-directional mobile tank cleaning robot using mecanum wheels, which is light in weight and more flexible in movement than other robots, and which effectively washes the sludge at the bottom of the tank using self-excited oscillation pulse nozzles, and which is equipped with three disc brushes that effectively scrubs the residual dirt on the bottom surface of the tank. However, the robot is driven by wheels, is difficult to move in places with high oil sludge viscosity, has a small sewage suction port and low cleaning efficiency; and the brush may generate heat and static electricity when cleaning the bottom surface, which presents a work risk.

Therefore, most of the existing oil tank cleaning robots do not have a sewage recovery device, and the sewage after cleaning needs to be additionally recovered, so that time and labor are wasted. In addition, the conventional oil tank cleaning robot has a relatively weak capacity for treating oil sludge with high viscosity and large amount, and can only clean dirt and residue on the surface of an oil tank. However, the bottom mud of the oil tank contains heavy oil such as paraffin and asphalt, and is relatively viscous and easy to block a sewage suction port. If a blockage of the recovery pipe occurs in the tank, this can affect the efficiency and, in the worst case, can cause damage to the equipment. In addition, some tank robots are driven by wheels, and it is difficult to move in a region where the residual amount of sludge in the tank is large and the sludge is viscous. Moreover, most robots are not provided with a combustible gas detection device, and the gas concentration condition during operation cannot be detected.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an oil tank cleaning robot, and aims to solve the technical problem that the oil tank cleaning robot in the prior art cannot realize sewage recovery.

In order to achieve the above object, an embodiment of the present invention provides an oil tank cleaning robot, including:

a body;

the traveling devices are arranged on two sides of the machine body to drive the machine body to move;

wash recovery unit, including wasing water pipe, nozzle, soil pick-up pipe and soil pick-up head, wash the water pipe with the soil pick-up pipe all connect in the fuselage, the nozzle install in wash the end of water pipe and be used for spouting the water column, soil pick-up head detachably install in the end of soil pick-up pipe is used for retrieving the fatlute after the fluidization.

Optionally, the nozzle is a fan nozzle.

Optionally, the cleaning water pipe and the nozzle are both connected and fixed to the top of the sewage suction pipe.

Optionally, the machine body comprises a chassis, two wheel carriers connected to two sides of the chassis, and a top plate connected to the chassis and located above the chassis, the sewage suction pipe is installed at the top of the top plate, and the traveling device is installed on the two wheel carriers.

Optionally, the machine body further comprises a hydraulic cylinder, one end of the top plate is hinged to one end of the chassis, a cylinder body of the hydraulic cylinder is installed on the chassis, and a piston rod of the hydraulic cylinder is hinged to the bottom of the top plate, far away from the hinged position of the top plate and the chassis.

Optionally, the machine body further comprises a link mechanism, the link mechanism is connected between the bottom of the top plate and the nozzle, and the chassis is provided with a slot for avoiding the link mechanism.

Optionally, the traveling device includes a hydraulic motor, two driving wheels, a guide wheel, a bearing wheel and a rubber track, the two guide wheels are respectively mounted at the front ends of the two wheel carriers through a front wheel shaft, the two driving wheels are respectively mounted at the rear ends of the wheel carriers through a rear wheel shaft, the hydraulic motor is in driving connection with the rear wheel shaft, the rubber track is wound outside the guide wheel and the driving wheels which are arranged on the same side, the bearing wheel has a plurality of bearing wheels, the bearing wheels are all mounted on the wheel carriers and are respectively supported on the upper section and the lower section of the rubber track at intervals.

Optionally, the traveling device further includes a tensioning mechanism, the tensioning mechanism includes a screw, a nut, and an installation block, the installation block is installed on a side portion of the wheel carrier, a first through hole is formed in the installation block, one end of the front wheel shaft penetrates out of the side portion of the wheel carrier, a second through hole is formed in a portion of the front wheel shaft penetrating out of the side portion of the wheel carrier, the screw sequentially penetrates through the first through hole and the second through hole, and the nut is in threaded connection with the screw and abuts against one side, facing away from the installation block, of the front wheel shaft.

Optionally, the oil tank cleaning robot further comprises a gas detection device, the gas detection device comprises a detection box and a gas detector, the detection box is mounted on the top of the machine body, and the gas detector is mounted in the detection box.

Optionally, the oil tank cleaning robot further comprises a monitoring device, the monitoring device comprises at least two explosion-proof cameras, and the front end and the rear end of the top of the machine body are both provided with at least one explosion-proof camera.

One or more technical schemes in the oil tank cleaning robot provided by the embodiment of the utility model at least have one of the following technical effects: in the oil tank cleaning robot provided by the embodiment of the utility model, the body is driven to travel by the traveling device, wherein a cleaning water pipe of the cleaning and recycling device is required to be externally connected to an external water source, and a sewage suction pipe is externally connected to an external suction pump; when the oil tank cleaning machine travels, a water source conveyed by a cleaning water pipe is sprayed to the position of oil sludge in the oil tank through a nozzle to fluidize and solidify viscous oil sludge; meanwhile, in the process, the sewage suction head connected to the sewage suction pipe can recover the fluidized oil sludge, so that sewage recovery is realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an oil tank cleaning robot according to an embodiment of the present invention.

Fig. 2 is a plan view of the tank cleaning robot according to the embodiment of the present invention.

Fig. 3 is an exploded schematic view of an oil tank cleaning robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-fuselage 11-chassis 12-wheel carrier

13-top plate 14-hydraulic cylinder 15-connecting rod mechanism

20-running gear 21-hydraulic motor 22-driving wheel

23-guide wheel 24-bearing wheel 25-rubber track

26-tensioning mechanism 30-cleaning recovery device 31-cleaning water pipe

32-nozzle 33-sewage suction pipe 34-sewage suction head

40-gas detection device 50-monitoring device 51-explosion-proof camera

111-slot 121-inner plate 122-outer plate

123-rod piece 151-vertical fixed rod 152-oblique movable rod

261-screw 262-nut 263-mounting block

341-flakes.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-3 are exemplary and intended to be used to illustrate embodiments of the utility model, and should not be construed as limiting the utility model.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In one embodiment of the present invention, as shown in fig. 1 to 3, there is provided an oil tank cleaning robot including a body 10, a traveling device 20, and a cleaning recovery device 30; the walking devices 20 are arranged on two sides of the machine body 10 to drive the machine body 10 to move; wash recovery unit 30 including wash water pipe 31, nozzle 32, soil pick-up pipe 33 and soil pick-up head 34, wash water pipe 31 with soil pick-up pipe 33 all connect in fuselage 10, nozzle 32 install in wash water pipe 31's end and be used for spouting the water column, soil pick-up head 34 detachably install in soil pick-up pipe 33's end and be used for retrieving the fatlute after the fluidization. Wherein, the cleaning water pipe 31 needs to be externally connected to an external water source. The sewage suction pipe 33 is externally connected to a suction pump at the outside; the water source and the suction pump can adopt the prior art and are matched with the oil tank cleaning robot for use. Of course, in other embodiments, a suction pump or a water source may be mounted on the body 10.

In the oil tank cleaning robot provided by the embodiment of the utility model, the body 10 is driven to travel by the traveling device 20, and when the oil tank cleaning robot travels, a water source conveyed by the cleaning water pipe 31 is sprayed to the position of oil sludge in the oil tank through the nozzle 32 to fluidize and solidify viscous oil sludge; meanwhile, in the process, the sewage suction head 34 connected to the sewage suction pipe 33 can recover the fluidized oil sludge, so that sewage recovery is realized.

Of course, the tank dirt-absorbing cleaning robot of the utility model can be used for cleaning and recovering in dangerous areas such as mines and the like besides operating in the oil tank.

Further, as shown in fig. 1, a thin piece 341 is provided in the dirt suction port of the dirt suction head 34, and the thin piece 341 can cut large sludge to prevent clogging of the dirt suction pipe 33. Still further, a sharp edge may be provided in the sheet 341. Therefore, the operation requirements under different environments can be met, and the dirt suction pipe 33 is effectively prevented from being blocked by oil dirt.

Preferably, the nozzle 32 is a fan nozzle 32. The fan-shaped nozzle 32 can use the sprayed water to form a water curtain, so that the fluidization effect on the oil stains is better.

In another embodiment of the present invention, as shown in fig. 1 to 2, the cleaning water pipe 31 and the nozzle 32 are both connected and fixed to the top of the dirt suction pipe 33. So, wash water pipe 31 and nozzle 32 and can follow sewage suction pipe 33 and remove, and the sewage that is formed by the water column fluidization greasy dirt that nozzle 32 jetted is favorable to being sucked by the suction nozzle of connecting on the sewage suction pipe 33 more, and it is better to retrieve the sewage effect.

In another embodiment of the present invention, as shown in fig. 1 to 3, the body 10 includes a chassis 11, two wheel frames 12 connected to both sides of the chassis 11, and a top plate 13 connected to the chassis 11 and located above the chassis 11, the dirt suction pipe 33 is installed on the top of the top plate 13, and the traveling device 20 is installed on the two wheel frames 12. Specifically, the chassis 11 plays a main supporting role, the wheel frames 12 arranged at two sides are mainly used for installing the walking device 20, and the top plate 13 is mainly used for installing the cleaning and recycling device 30. Therefore, the whole oil tank cleaning robot is in a modular design, is convenient to assemble and disassemble, is favorable for the compactness of structural design and is further favorable for the miniaturization design of the oil tank cleaning robot.

Further, the chassis 11 is of a narrow structural design, thereby enabling the entire tank washing robot to climb up a manhole guide ladder having an inclination angle of 30 ° and pass through a tank manhole of 600mm diameter.

In another embodiment of the present invention, as shown in fig. 3, the body 10 further includes a hydraulic cylinder 14, one end of the top plate 13 is hinged to one end of the chassis 11, a cylinder body of the hydraulic cylinder 14 is mounted on the chassis 11, and a piston rod of the hydraulic cylinder 14 is hinged to a bottom of the top plate 13 away from a hinged position of the top plate and the chassis 11. Specifically, the hydraulic cylinder 14 can drive the top plate 13 to swing at a certain angle, and swing around the hinged joint of the top plate 13 and the chassis 11, so that the cleaning water pipe 31, the nozzle 32, the sewage suction pipe 33 and the sewage suction head 34 connected to the top plate 13 can be controlled to swing to different angles, and particularly, the lifting and lowering of the sewage suction port of the suction nozzle can be controlled. For example, the nozzle 32 may be caused to eject a column of water at an angle of 60 ° to flush sludge in front of the suction port of the suction nozzle.

In another embodiment of the present invention, as shown in fig. 3, the body 10 further includes a link mechanism 15, the link mechanism 15 is connected between the bottom of the top plate 13 and the nozzle 32, and the bottom plate 11 is provided with a slot 111 avoiding the link mechanism 15. Specifically, link mechanism 15 plays the effect of connecting roof 13 and nozzle 32, like this, when roof 13 swing angle under the control of pneumatic cylinder 14, along with sewage suction pipe 33 can follow roof 13 swing angle, under link mechanism 15's drive, the suction nozzle can keep unanimous and follow-up with sewage suction pipe 33, realizes that the angle of better suction nozzle is controlled. And the link mechanism 15 protrudes from the slot 111 to avoid the chassis 11 from interfering with the link mechanism 15 at the installation position.

Further, as shown in fig. 3, the link mechanism 15 includes a vertical fixing rod 151 and an oblique movable rod 152, one end of the vertical fixing rod 151 is fixedly connected to the bottom of the top plate 13 and is vertically disposed, one end of the oblique movable rod 152 is hinged to the vertical fixing rod 151, and the other end of the oblique movable rod 152 is hinged to the back of the suction nozzle.

In another embodiment of the present invention, as shown in fig. 1 to 3, the traveling device 20 includes a hydraulic motor 21, a driving wheel 22, a guide wheel 23, a bearing wheel 24 and a rubber crawler 25, the two guide wheels 23 are respectively mounted at the front ends of the two wheel frames 12 through a front wheel shaft (not shown), the two driving wheels 22 are respectively mounted at the rear ends of the wheel frames 12 through a rear wheel shaft (not shown), the hydraulic motor 21 is drivingly connected with the rear wheel shaft, the rubber crawler 25 is wound around the guide wheel 23 and the driving wheel 22 disposed at the same side, the bearing wheel 24 has a plurality of wheels, and is mounted on the wheel frames 12 and respectively supported at the upper and lower sections of the rubber crawler 25 at intervals. Specifically, the hydraulic motor 21 drives the rear wheel shaft connected with the hydraulic motor to rotate, the rear wheel shaft drives the driving wheel 22 to rotate, so that the driving wheel 22 and the guide wheel 23 arranged on the same side are driven to rotate, and the guide wheel 23 is driven to rotate; also, the rubber crawler 25 can be stably rotated by being supported by the plurality of bearing wheels 24. In the utility model, the hydraulic motor 21 of the walking device 20 does not need to use electric power, does not generate sparks in use, has large torque and slow rotating speed, can be controlled by a servo, and runs stably at low speed in the cleaning operation. The cleaning device is safer and more reliable when being applied to cleaning operation in the oil tank.

In another embodiment of the present invention, as shown in fig. 1-2, the walking device 20 further includes a tensioning mechanism 26, the tensioning mechanism 26 includes a screw 261, a nut 262 and an installation block 263, the installation block 263 is installed at a side portion of the wheel frame 12, a first through hole (not shown) is provided on the installation block 263, one end of the front wheel axle passes through the side portion of the wheel frame 12, a second through hole is provided at a portion of the front wheel axle passing through the side portion of the wheel frame 12, the screw 261 sequentially passes through the first through hole and the second through hole (not shown), and the nut 262 is screwed to the screw 261 and abuts against a side of the front wheel axle facing away from the installation block 263. Specifically, by adjusting the tightness of the screw 261, it is possible to move the position by pulling the front wheel shaft connected thereto, and further, the position of the guide wheel 23, and thus, to adjust the tension degree of the rubber crawler 25. By adjusting the tightness of the rubber track 25, smooth movement of the rubber track under the complex environment of the oil tank is facilitated.

Further, the hydraulic motor 21 is a steel ball motor and is directly connected with the driving wheel 22, i.e. the rear wheel axle is a part of the hydraulic motor 21 itself. The driving wheel 22 is 11 teeth, and the service life of the driving wheel 22 can be prolonged by the odd number of teeth. Preferably, each rubber track 25 is supported by six bearing wheels 24, and the outer plate 122 arranged on the outer side of each rubber track 25 can be detached at will, so that the maintenance and the repair at the later stage are very convenient. The outer plate 122 is a part of the wheel frame 12.

Further, as shown in fig. 3, the wheel frame 12 includes an inner plate 121 and an outer plate 122, and the inner plate 121 and the outer plate 122 are detachably connected together by a plurality of bars 123.

In another embodiment of the present invention, as shown in fig. 1 to 2, the tank cleaning robot further includes a gas detection device 40, and the gas detection device 40 includes a detection box (not shown) and a gas detector (not shown), the detection box is mounted on the top of the body 10, and the gas detector is mounted in the detection box. Specifically, the detection box plays the effect of gas detector installation and protection to gas detector, and gas detector can guarantee that the robot works under safe gas concentration to can inspect the interior combustible gas's of oil tank concentration constantly, has improved the security of operation.

In another embodiment of the present invention, as shown in fig. 1 to 2, the tank cleaning robot further includes a monitoring device 50, the monitoring device 50 includes at least two explosion-proof cameras 51, and at least one explosion-proof camera 51 is disposed at each of the front end and the rear end of the top of the body 10. Specifically, the cleaning effect of the robot can be observed on a monitor in front of an operator in real time through at least two anti-explosion cameras 51 arranged in front and at the back, and the anti-explosion cameras 51 have an illumination function and can be used for ensuring that the anti-explosion cameras 51 can clearly shoot in real time in a dark place.

In summary, the oil tank cleaning robot provided by the embodiment of the utility model mainly cleans the bottom surface of the oil tank and recovers the cleaned water and oil stains. The problems of time consumption, high labor intensity and safety of the traditional manual oil tank cleaning are solved. The oil tank cleaning robot belongs to a crawler-type robot, is driven by a hydraulic motor, and a combustible gas detector on the oil tank cleaning robot is fixed on the robot, so that the concentration of combustible gas in an oil tank can be monitored in all directions during operation of the robot. The robot carries on vacuum recovery, low pressure cleaning equipment, relies on fan-shaped nozzle to wash the tank bottoms, plays the effect of the residual greasy dirt of fluidization stickness. The robot is matched with an explosion-proof camera and an LED lamp, so that the treatment condition of sludge in the oil tank can be observed in real time. Simultaneously, the vacuum recovery system that this robot carried on can retrieve the greasy dirt that washs to impurity and oil separation in the later stage are come out in with the greasy dirt, reduce the waste of finished product oil. The oil tank cleaning robot provided by the utility model can be used for carrying out dirt suction and cleaning operation tasks in flammable and explosive dangerous areas.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An oil tank cleaning robot, its characterized in that: the method comprises the following steps:

a body;

2. The tank cleaning robot according to claim 1, wherein: the nozzle is a fan-shaped nozzle.

3. The tank cleaning robot according to claim 1, wherein: the cleaning water pipe and the nozzle are both connected and fixed at the top of the sewage suction pipe.

4. The tank cleaning robot according to claim 3, wherein: the machine body comprises a chassis, two wheel carriers connected to two sides of the chassis and a top plate connected to the chassis and located above the chassis, the sewage suction pipe is installed at the top of the top plate, and the traveling devices are installed on the two wheel carriers.

5. The tank cleaning robot according to claim 4, wherein: the machine body further comprises a hydraulic cylinder, one end of the top plate is hinged to one end of the chassis, a cylinder body of the hydraulic cylinder is installed on the chassis, and a piston rod of the hydraulic cylinder is hinged to the bottom, far away from the hinged position of the top plate and the chassis, of the top plate.

6. The tank cleaning robot according to claim 5, wherein: the machine body further comprises a connecting rod mechanism, the connecting rod mechanism is connected between the bottom of the top plate and the nozzle, and the chassis is provided with a groove for avoiding the connecting rod mechanism.

7. The tank cleaning robot according to claim 4, wherein: the walking device comprises hydraulic motors, driving wheels, guide wheels, bearing wheels and a rubber track, wherein the two guide wheels are respectively arranged at the front ends of the two wheel carriers through a front wheel shaft, the two driving wheels are respectively arranged at the rear ends of the wheel carriers through a rear wheel shaft, the hydraulic motors are in driving connection with the rear wheel shafts, the rubber track is wound outside the guide wheels and the driving wheels which are arranged on the same side, and the bearing wheels are provided with a plurality of bearing wheels which are respectively arranged on the wheel carriers and are respectively supported on the upper section and the lower section of the rubber track at intervals.

8. The tank cleaning robot according to claim 7, wherein: the traveling device further comprises a tensioning mechanism, the tensioning mechanism comprises a screw, a nut and an installation block, the installation block is installed on the side portion of the wheel carrier, a first through hole is formed in the installation block, one end of the front wheel shaft penetrates out of the side portion of the wheel carrier, a second through hole is formed in the portion, penetrating out of the side portion of the wheel carrier, of the front wheel shaft, the screw sequentially penetrates through the first through hole and the second through hole, and the nut is in threaded connection with the screw and abuts against one side, facing away from the installation block, of the front wheel shaft.

9. The oil tank cleaning robot according to any one of claims 1 to 8, wherein: further comprising:

the gas detection device comprises a detection box and a gas detector, wherein the detection box is installed at the top of the machine body, and the gas detector is installed in the detection box.

10. The oil tank cleaning robot according to any one of claims 1 to 8, wherein: further comprising:

the monitoring device comprises at least two explosion-proof cameras, wherein the front end and the rear end of the top of the machine body are at least provided with one explosion-proof camera.