RU2744872C1 - Tracked vehicle for traveling in oil products tanks - Google Patents

Abstract

FIELD: vehicles for moving inside oil product tanks.

SUBSTANCE: invention relates to a tracked platform for transporting equipment inside tanks with petroleum products. The vehicle contains a body, hydraulic motors driving the caterpillar propellers, cylindrical articulated joints, hydraulic cylinders fixed on the body and on the caterpillar propellers. Articulated joints and hydraulic cylinders are made with the ability to provide the possibility of approaching the caterpillar propellers to the body and the possibility of moving the caterpillar propellers away from the body. Each tracked propeller is attached to the body by at least two cylindrical articulated joints.

EFFECT: increased cross-country ability and functionality of the vehicle.

5 cl, 4 dwg

Description

The technical field to which the invention relates

The invention relates to the field of caterpillar vehicles, in particular, to a tracked platform for transporting equipment inside tanks with petroleum products.

State of the art

A device for adjusting the distance between the tracks of a working vehicle is known (EP0705944A1), in which it is possible to move the tracks independently of each other. When one of the tracks is moved laterally outward from the vehicle, the other can be maintained in an inward position.

The fundamental differences between the proposed solution and the one described in patent EP0705944A1 are the presence of an articulated body and a completely different mechanism for extending the tracked propellers.

A solution is known that describes a self-propelled robotic vehicle with inclined power plants (US5248008A). The well-known self-propelled robotic vehicle with tilt crawler drives is used to operate in an aggressive environment. Each power unit has a track, an integrated power drive for driving the track, and an integrated tilt drive for tilting the power unit, rotating it around the transverse axis if necessary. Each propulsion unit can be easily removed and therefore replaced in the event of failure or damage to a specific propulsion unit. The vehicle is capable of moving on non-horizontal and rough surfaces, while maintaining the stability of the vehicle body and any load that it may carry. The car body contains no mechanical parts. The vehicle is especially useful in the nuclear industry.

However, this decision does not say anything about the presence of an articulated body, the presence of a mechanism that allows you to increase the track gauge.

It is known, selected as a prototype, a self-propelled device for entering and moving special equipment in confined spaces with dirty sediments at the bottom (EP3560795A1). This self-propelled device for entering and moving specific equipment in confined spaces with muddy sediment at the bottom contains two undercarriages equipped with tracks, which are spaced from each other, which together support the connecting devices from above for transporting rigid long equipment

The fundamental difference between the proposed solution and the one described in the patent EP3560795A1 is the presence of a mechanism that allows you to increase the track gauge and increase the vehicle clearance, other articulation of the chassis with each other.

Disclosure of invention

In one aspect, a crawler vehicle is disclosed for driving in oil storage tanks, comprising:

- body;

- caterpillar propellers attached to the body by means of pivot joints;

- hydraulic motors located in caterpillar propellers and made with the ability to drive the caterpillar propellers;

- cylindrical articulated joints, fixed on the body and on the tracked propellers, made with the ability to provide the possibility of approaching the tracked propellers to the body and the possibility of moving the tracked propellers away from the body;

-hydraulic cylinders, made with the ability to act on the pivot joints in order to move the caterpillar propellers away from the body and with the ability to act on the pivot joints in order to bring the caterpillar propellers closer to the body;

moreover, each caterpillar propeller is attached to the body by at least two cylindrical articulated joints.

In additional aspects, it is disclosed that the axis of the body-mounted cylindrical pivot joint is located at an angle of 5 to 45 degrees from the vertical.

In another aspect, a crawler vehicle is disclosed for driving in oil tanks, comprising:

- two-link building;

- caterpillar propellers attached to the hull links by means of articulated joints;

- hydraulic motors located in caterpillar propellers and made with the ability to drive the caterpillar propellers;

- cylindrical articulated joints, fixed on the body and on the tracked propellers, made with the ability to provide the possibility of approaching the tracked propellers to the body and the possibility of moving the tracked propellers away from the body;

-hydraulic cylinders, made with the ability to act on the pivot joints in order to move the caterpillar propellers away from the body and with the ability to act on the pivot joints in order to bring the caterpillar propellers closer to the body;

moreover, each caterpillar propeller is attached to the body by at least two cylindrical articulated joints.

moreover, the body parts are articulated so as to provide the possibility of rotation of the body links relative to each other in the vertical plane.

In additional aspects, it is disclosed that the body parts are articulated so as to be pivotable relative to each other in a horizontal plane using an additional hydraulic cylinder; parts of the body are articulated so that it is possible to rotate relative to each other in the vertical and horizontal planes using two additional hydraulic cylinders, one of which provides rotation in the vertical plane, and the other provides rotation in the horizontal plane; the hinge joints are made with the ability to bring the caterpillar propellers of the hull links closer to each other when they approach the hull; additionally contains equipment for cleaning the tank, and the equipment for cleaning is at least one of the means for supplying the washing liquid, means for pumping out impurities from the bottom of the reservoir, means for mechanical action on impurities.

The main tasks solved by the claimed invention are the import of equipment into the tank through a narrow inlet (manhole), efficient movement of equipment inside the tank on a contaminated uneven surface, ensuring reliable operation of equipment, overcoming high obstacles.

The essence of the invention lies in the fact that the proposed vehicle caterpillar propellers can unfold and fold in the direction of the width of the vehicle, while changing the clearance, which makes it possible to travel into narrow inlet openings of the tanks in the folded state, and maintain stability when moving and working inside the tank in unfolded state.

The technical result achieved by the solution consists in increasing the cross-country ability and functionality of the vehicle, as well as in the ability to overcome obstacles, to maintain stability when working inside the tank.

Brief Description of Drawings

Figure 1 shows a diagram of the articulated connection of the tracked propellers to the body.

FIG. 2 shows the arrangement of the hinge joints on the housing.

3 shows a control diagram of a vehicle.

4 shows a perspective view of a vehicle with installed equipment.

Implementation of the invention

The proposed vehicle is a body on which the equipment is attached, with tracked propellers on both sides of the body. The caterpillar propellers are fixed to the hull so that they can be folded and unfolded. In the folded state, the caterpillar propellers are pressed against the body, thereby reducing the overall width and height of the vehicle and providing the ability to drive through narrow openings. In the unfolded state, the caterpillar propellers are retracted from the body and thereby the overall width of the vehicle increases, which ensures its greater stability, as well as the vehicle's clearance increases, which increases its cross-country ability. Equipment for cleaning the tank from oil products can be used as equipment: a cleaning fluid supply system, a suction system for oil products, an operator control system and others; equipment for rescue operations, etc.

When it comes to equipment for cleaning oil tanks, it is important that the crawler robot not only moves efficiently over an uneven surface contaminated with oil sludge, but also maintains resistance to tipping over when moving and cleaning with a powerful jet of liquid, this stability is ensured by a wider track caterpillars, and increased cross-country ability is provided by increased ground clearance, in some embodiments, also due to the two-link design. In the claimed vehicle, the caterpillar propellers move apart when they are inside the tank, move in it, perform stripping, and move when overcoming obstacles requiring a narrower track track, in particular, the inlet of the tank.

DETAILED DESCRIPTION OF IMPLEMENTATION OPTIONS

Embodiment 1

In the first embodiment, the claimed solution is a vehicle consisting of a metal body and caterpillar drives on the sides of the body.

The claimed vehicle is characterized in that the caterpillar propellers are made with the possibility of moving away from the body and approaching the body. To achieve this functionality, each track unit is attached to the hull with two hinges. The fastening method is shown in Fig. 1.

The crawler units 101 are attached to the hull 102 by pivot joints 103 and 104 so as to be able to move in parallel from and to the hull in a horizontal plane. Each track unit 101 includes a hydraulic motor (not shown in FIG. 1) for driving the track unit 101.

Preferably, cylindrical hinges are used for the connection. To displace the caterpillar drives 101 relative to the housing 102, hydraulic cylinders are used, the movement of the rod of which leads to the displacement of the caterpillar drives 101 in the required direction.

Preferably, the hydraulic cylinder operates in such a way that the extension of the rod brings the caterpillar 101 closer to the housing 102, and the retraction of the rod moves the caterpillar 101 away from the housing 102. This solution provides more reliable operation, since when moving inside the tank in an oil sludge environment, the cylinder rod is better protected from oil sludge. This is due to the fact that the movement in the tank is carried out mainly in the unfolded position: with the caterpillar drives 101 retracted from the housing 102.

In one embodiment, shown in FIG. 2, the cylindrical hinges allow the crawler drives 101 to move horizontally but also vertically. This is ensured by the fact that the cylindrical hinge is attached to the body not vertically, but at an angle a. The angle a is preferably 5 to 45 degrees, even more preferably 10 to 30 degrees.

In Fig. 2, levers 203 are attached to the housing 201 by means of cylindrical hinges 202, at the ends of the levers there are cylindrical hinges 204 to which caterpillar drives (not shown in Fig. 2) are attached.

The angle a, the height of the body, the height of the caterpillar propellers are chosen so as to ensure the possibility of movement of the vehicle, both in folded and unfolded states, that is, in the folded state, a minimum clearance must be ensured that is safe for movement inside the tank, in which at the bottom they can be technological pipes and other irregularities.

The overall width and height when folded should allow the vehicle to pass through the narrow oil tank inlet, which is typically 60 cm in diameter.

In one embodiment, when folded, the vehicle does not exceed 40 cm in height and width. Moreover, both in the folded and unfolded state, it is possible to operate the hydraulic motors of the tracked propellers, which ensures the possibility of movement in both states.

Applicant believes that a person skilled in the art will be able to select a variety of options and sizes of the hull and tracks to create a variety of embodiments of the described vehicle without creative effort.

Operation of the declared vehicle

To control the declared vehicle, a control panel is used, which gives signals to turn on or off certain power drives (hydraulic motors, hydraulic cylinders, etc.). The hydraulic power source is located outside the vehicle and delivers fluid through hoses.

The implementation of the control circuit of the hydraulic device can be any known in the art, the applicant believes that a person skilled in the art will be able, without creative efforts, to implement a control circuit based on only hydraulics, based on a combination of hydraulics and pneumatic elements, based on power hydraulics and electric control signals.

When entering the tank through a narrow inlet, the operator, using the control panel, commands the vehicle to fold the track drives, as a result of which the width and height of the vehicle decreases. Next, the operator commands the movement through the inlet into the tank, inside the tank, on command, the crawler drives are decomposed and moved to the specified point in the tank.

Embodiment 2

In the second embodiment, the claimed solution is a vehicle consisting of vehicles connected together according to the first embodiment. Thus, the vehicle body contains two links, the number of caterpillar propellers is four.

The hull links are connected to each other by means of a pivot connection, to each link by means of a pivot connection a pair of caterpillar propellers is attached. Each crawler unit has its own hydraulic motor. To rotate the said pivot joints, hydraulic cylinders are used, four hydraulic cylinders are used to collect / expand four caterpillar propellers, and one is used to rotate the links relative to each other.

The function of the hinge joints in the claimed solution is to ensure reliable connection of the elements to each other with the possibility of angular and / or linear displacement. So the body links are functionally connected to each other with the possibility of angular displacement by an angle of up to 90 degrees. In this case, the caterpillar propellers are functionally connected to the body with the possibility of parallel displacement in the horizontal plane by means of, for example, cylindrical hinges.

Hydraulic cylinders are used to approach or distribute the caterpillar propellers; on each side of each link of the hull, a hydraulic cylinder is used.

Options are available with hydraulic cylinders per pivot joint, which reduces the requirement for individual cylinders. The hydraulic cylinder can be connected to the swivel joint directly or indirectly through additional means to change the leverage or force exerted by the hydraulic cylinders.

The method of connecting the hydraulic cylinder to the articulated joint does not limit the claimed solution, it only has to provide the possibility of approaching and moving away the caterpillar propellers relative to the body.

Figure 3 shows a control diagram of the proposed vehicle.

The control circuit contains hydraulic cylinders 301 for approaching and moving away the caterpillar propellers, a hydraulic cylinder for rotating the links relative to each other in a horizontal plane, hydraulic motors 303.

The hydraulic motor 303 is connected by a flexible hose (not shown in Fig. 3) to a hydraulic power source (not shown in Fig. 3) so as to enable the hydraulic motor 303 to operate in both unfolded and folded states.

For the proposed vehicle, the source of hydraulic power is located outside the vehicle itself, the supply of hydraulic power is carried out using hoses from a remote source of hydraulic power to the proposed vehicle. The housing preferably contains a distributor that redirects one input flow of hydraulic energy to a plurality of recipients (hydraulic motors, hydraulic cylinders, etc.), but variants are possible in which a plurality of hoses / sleeves go from the source of hydraulic energy to each recipient at once.

The distributor is a system of electrohydraulic valves, which are controlled by external electrical signals from the control means and, according to these control signals, direct the flow of hydraulic energy to one or another recipient.

The approach to and distance from the body of the caterpillar propellers is ensured by means of the hydraulic cylinders 301 when the rods of the hydraulic cylinders 301 move in one direction or the other. The specific mechanism for providing movement of the tracked propellers is not the subject of the present invention and is not disclosed in detail, but can be easily implemented by a person skilled in the art without creative efforts.

The rotation of the two links of the vehicle relative to each other is ensured by means of a hydraulic cylinder 302. The design of the links and their connection provides the possibility of relative rotation of the two links by 90 degrees. Preferably, the connection is formed by means of a cylindrical hinge, and the distance between the track drives and the body links is chosen so as to provide the ability to rotate through the required maximum angle.

To rotate two links of the vehicle relative to each other in two planes (horizontal and vertical), a link connection is used, consisting of two cylindrical hinges, and two hydraulic cylinders, each of which provides movement in its own plane. In some embodiments, the link connection also allows the links to rotate relative to each other along an axis extending along the two links through their centers to improve flotation and stability.

The vehicle is propelled by hydraulic motors 303.

The proposed design of the vehicle provides a drive into the narrow passage of the tank in a state in which the caterpillar propellers are close to the body, as well as stability during movement and operation inside the tank in a state in which the caterpillar propellers are retracted from the body. The ability to rotate two links relative to each other provides higher maneuverability and cross-country ability compared to a single-link design.

The vehicle can carry any equipment that, together with the vehicle, can fit into the inlet of the tank. Collecting track propellers and a two-link structure allow much more equipment to be transported through a narrow tank inlet compared to a single-link structure without collecting caterpillars.

If we imagine a similar vehicle, in which the caterpillar propellers are rigidly fixed relative to the body at such a distance as to ensure entry into the narrow inlet of the tank, then when moving and working inside the tank, the likelihood of overturning on its side increases. If the tracked propellers do not provide the possibility of increasing the ground clearance, then the vehicle's cross-country ability is low.

Operation of the declared vehicle

Initially, the vehicle is located outside the tank, to enter the tank, the operator, using a control device (specialized control panel, laptop, computer, telephone, other suitable device for these purposes), sends a command to the vehicle via a communication line in order to bring the caterpillar propellers closer to body, then the operator commands the vehicle to move in the direction of the inlet of the tank, the direction of movement is corrected using at least one of: providing a difference in the rotation speed of the left and right caterpillar propellers, ensuring the rotation of the articulated links relative to each other using a designated hydraulic cylinder ...

A ladder is used to enter the entrance, since, as a rule, the entrance is located above ground level.

However, in an embodiment in which the links can pivot in a vertical plane, it is possible to drive into the inlet without a ladder. To do this, the operator commands the rotation of the links in the vertical plane, as a result, the front link rises at an angle to the ground, the caterpillar drives of this link approach the inlet, the operator commands the forward movement and the vehicle partially enters the hole, then controlling the rotation of the links relative to each other in on a vertical plane, the operator can guide the vehicle through the opening into the tank. To carry out such an operation, of course, the height of the hole above the level of the surface on which the vehicle is moving must be less than the level to which the first link of the vehicle can rise.

Inside the tank, the operator commands the vehicle to move the crawler propellers apart and then commands the vehicle to move to the point of interest in the tank.

The movement of the vehicle inside the tank can be monitored using a camera built into it, or a camera located in the upper part of the tank, or a combination of both. One or more light sources can be used to improve visibility.

Control commands are electrical signals that control the electrohydraulic valves that regulate the flow of energy from the hydraulic power source, when the electrohydraulic valve is opened, the flow of hydraulic energy enters the associated hydraulic power element (hydraulic motor or hydraulic cylinder), driving it.

The system of electrohydraulic valves can be located both in the vehicle and outside it, which is not the subject of the declared solution.

Embodiment 3

In this embodiment, the vehicle differs from the second embodiment in that the articulated connection of the two links is additionally configured to rotate the body links relative to each other in a vertical plane and includes a hydraulic cylinder for such rotation.

In this embodiment, the crawler drives approach each other at the same time as they approach the body, this provides a more efficient operation of the hydraulic cylinder, which rotates the links relative to each other in the vertical plane.

The hinge mechanism is not disclosed in detail here, as it can be of any design known to a person skilled in the art.

The swivel mechanism may be a ball, cardan, cylindrical, or other suitable connection. In the claimed solution, to ensure high reliability, it is preferable to use two successive cylindrical hinge joints, the first provides rotation in the horizontal plane, and the second in the vertical.

In the proposed vehicle, the rotation of the body links in the vertical plane is ensured by a cylindrical hinge and a hydraulic cylinder, which provide a rotation angle of up to 90 degrees. The rotation of the body links in the horizontal plane is also ensured by the cylindrical joint and the hydraulic cylinder, which provide a rotation angle of up to 90 degrees.

The rotation of the hull links relative to each other in the vertical plane makes it possible to drive over high obstacles, in particular, the vehicle can enter the narrow inlet of the tank without a ladder by raising the first hull link above the ground, and it can also overcome high obstacles inside the tank, which increases patency of the declared vehicle.

In one embodiment, when pivoting in a vertical plane, only the first link rises to a predetermined angle.

In another embodiment, both links rise to a predetermined angle relative to the horizontal, which allows you to overcome high obstacles and behind the robot when moving backward.

Operation of the declared vehicle

Initially, the robot is outside the tank and the operator, using the control panel, commands the robot to approach the inlet of the tank, then gives the command to assemble the caterpillar propellers, raise the first link of the hull to an angle sufficient to enter the inlet, and then commands the vehicle to enter the inlet. Control of movement and entry can be carried out through the observation of the process by the operator without the help of technical means or with the help of a camera in the vehicle, movement control inside the tank is carried out using a built-in or external camera.

Exit from the tank can also be carried out by raising the first link relative to the second in the presence of a difference in height between the inlet and the level of the tank bottom, which completely eliminates the need for a person to be inside the tank, including for installing a ladder for the vehicle to exit it.

Embodiment 4

In this embodiment, equipment is stopped on the vehicle to clean up the tank from oil sludge. This equipment is represented by at least one of: oil sludge pumping systems, cleaning fluid supply systems, systems for mechanical action on oil sludge. In such an embodiment, the vehicle becomes part of a mobile tank cleaning robot.

Figure 4 shows a perspective view of a robot with a camera 401 and a light source 402, as well as gripping 403 of a device for mechanical action on oil sludge, for example, a dump.

The oil sludge pumping system is a pump for pumping out and a pipeline for removing oil sludge into a receiving tank outside the tank. The pump runs on hydraulic power from the same external source that powers the vehicle's drive systems. The suction port of the pump is preferably located at the bottom of the vehicle in order to pump oil sludge from the bottom of the tank.

The cleaning liquid supply system includes a pipeline for supplying cleaning liquid from an external source, a nozzle for creating a directed flow, an electro-hydraulic valve for opening and shutting off the flow of cleaning liquid.

The system of mechanical action on oil sludge is a mechanical device consisting of a power drive and an element for destroying oil sludge, for example, a dump or grinder. The power drive is hydraulic, receives energy from an external source of hydraulic energy, and is controlled by electro-hydraulic valves.

Since the inlet of the tank is limited in size, all equipment installed on the declared vehicle is large enough to pass through the inlet, or has a folding structure.

In particular, the camera 401 and the light source 402 are mounted on a post that can be folded down to allow passage into the narrow tank inlet.

A similar approach is applied to the cleaning fluid supply system, the system of mechanical action on oil sludge.

Preferably, the nozzle of the cleaning fluid supply system is located on the same post and is directed in the same direction as the camera 401 and the light source 402, which makes it easier to control the cleaning of the reservoir.

The camera 401 and the light source 402 are placed on a stand (at a height from the bottom of the tank) so that dirt and suspension less sit on these elements of the robot.

The work of the declared robot for cleaning tanks

After entering the tank, at the command of the operator, the robot moves apart the caterpillar propellers, moves to the point in the tank specified by the operator, delivers the cleaning liquid to the structural elements of the tank: wall; bottom; cover; pontoon; stairs; playgrounds; fences; hatches and branch pipes, then pumps out the liquefied oil sludge from the bottom of the tank.

The caterpillar propellers diverted from the body allow the robot to remain stable when cleaning the tank, since a powerful stream of cleaning liquid can overturn it. Also, the caterpillar propellers diverted from the body increase the stability of the robot during the operation of the system of mechanical action on oil sludge.

The embodiments are not limited to the embodiments described herein, a person skilled in the art based on the information set forth in the description and the knowledge of the prior art, other embodiments of the invention will become apparent without departing from the spirit and scope of the present invention.

Elements mentioned in the singular do not exclude the plurality of elements, unless otherwise specified.

The functional connection of elements should be understood as a connection that ensures the correct interaction of these elements with each other and the implementation of one or another functionality of the elements. Specific examples of functional communication can be communication with the ability to exchange information, communication with the ability to transmit electric current, communication with the ability to transmit mechanical movement, communication with the ability to transmit light, sound, electromagnetic or mechanical vibrations, etc. The specific type of functional relationship is determined by the nature of the interaction of these elements, and, unless otherwise indicated, is provided by widely known means using principles widely known in the art.

The methods disclosed herein comprise one or more steps or steps to achieve the described method. The steps and / or steps of the method can be substituted for each other without departing from the scope of the claims. In other words, if a specific order of steps or actions is not defined, the order and / or use of specific steps and / or actions may vary without departing from the scope of the claims.

While exemplary embodiments have been described in detail and shown in the accompanying drawings, it should be understood that such embodiments are illustrative only and are not intended to limit the broader invention, and that the invention should not be limited to the specific arrangements and structures shown and described. as various other modifications may be apparent to those skilled in the art.

The features mentioned in various dependent claims, as well as the implementations disclosed in various parts of the description, can be combined with the achievement of beneficial effects, even if the possibility of such a combination is not explicitly disclosed.

Claims (19)

1. A vehicle on a caterpillar track for movement in tanks with petroleum products, containing: - body; - caterpillar propellers attached to the body by means of pivot joints; - hydraulic motors located in caterpillar propellers and made with the ability to drive the caterpillar propellers; - cylindrical articulated joints, fixed on the body and on the tracked propellers, made with the ability to provide the possibility of approaching the tracked propellers to the body and the possibility of moving the tracked propellers away from the body; - at least two hydraulic cylinders configured to act on the pivot joints on each side of the body to move the tracked propellers away from the body and to act on the pivot joints on each side of the body to bring the tracked propellers closer to the body; moreover, each caterpillar propeller is attached to the body by at least two cylindrical articulated joints, moreover, the axis of the cylindrical hinge joint fixed on the body is located at an angle of 5 to 45 degrees to the vertical. 2. A vehicle on a caterpillar track for movement in tanks with petroleum products, containing: - two-link building; - caterpillar propellers attached to the hull links by means of articulated joints; - hydraulic motors located in caterpillar propellers and made with the ability to drive the caterpillar propellers; - cylindrical articulated joints, fixed on the body and on the tracked propellers, made with the ability to provide the possibility of approaching the tracked propellers to the body and the possibility of moving the tracked propellers away from the body; - hydraulic cylinders made with the ability to act on the pivot joints in order to move the caterpillar propellers away from the body and with the ability to act on the pivot joints in order to bring the caterpillar propellers closer to the body; moreover, each caterpillar propeller is attached to the body by at least two cylindrical articulated joints, moreover, the body parts are articulated so as to provide the ability to rotate relative to each other in the vertical and horizontal planes using two additional hydraulic cylinders, one of which provides rotation in the vertical plane, and the other provides rotation in the horizontal plane. 3. A vehicle according to claim 2, wherein the body parts are articulated so as to be able to pivot relative to each other in a horizontal plane using an additional hydraulic cylinder. 4. A vehicle according to claim 2, wherein the articulated joints are adapted to bring the caterpillar propellers of the hull links closer to each other as they approach the hull. 5. A vehicle according to claim 2, comprising equipment for cleaning the tank, and the equipment for cleaning is at least one of means for supplying a cleaning liquid, means for pumping out contaminants from the bottom of the tank, means for mechanically affecting contaminants.

Images