US20210308728A1 - Apparatuses, systems, and methods for cleaning - Google Patents
Apparatuses, systems, and methods for cleaning Download PDFInfo
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- US20210308728A1 US20210308728A1 US17/350,596 US202117350596A US2021308728A1 US 20210308728 A1 US20210308728 A1 US 20210308728A1 US 202117350596 A US202117350596 A US 202117350596A US 2021308728 A1 US2021308728 A1 US 2021308728A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
- B05B13/0415—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line the angular position of the spray heads relative to the straight line being modified during the reciprocating movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/06—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 specially designed for treating the inside of hollow bodies
- B05B13/0627—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies
- B05B13/0636—Arrangements of nozzles or spray heads specially adapted for treating the inside of hollow bodies by means of rotatable spray heads or nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
- B08B9/0936—Cleaning containers, e.g. tanks by the force of jets or sprays using rotating jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B14/00—Arrangements for collecting, re-using or eliminating excess spraying material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/46—Inspecting cleaned containers for cleanliness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Definitions
- the present disclosure relates to apparatuses, systems, and methods for the cleaning of surfaces, and in particular though non-limiting embodiments, to apparatuses, systems, and methods for cleaning containers, tanks, or vessels by fluidizing and removing materials within their interiors using a programmable and articulating arm.
- ROY remotely operated vehicle
- Existing remote tank cleaning systems include a nozzle configured to direct a fluid stream to dislodge, dilute, or dissolve settled solids from tank interiors. These systems generally require extensive mounting or setup within these tanks or containers prior to cleaning, during which workers may be subject to prolonged exposures to the contents being cleaned. Mounted systems may only be able to mount in a limited number of locations within the tanks or containers, limiting the utility of the system. Some systems include extensive robotic components that are bulky, heavy, and difficult to assemble and/or disassemble. Often, the systems cannot be utilized in remote or difficult to reach interiors of tanks, containers, and/or vessels because of the difficulty involved in bringing the system to the site. The systems usually require one or more booms or cranes to place the system near or into a target enclosed area.
- cleaning systems typically involve attachment to or placement upon a floor of a target enclosed area, meaning that the system is placed upon and/or covering a portion of the very sludge/materials the system is intended to clean.
- Floor mounted systems must also account for other issues in the floor, such as baffles, irregular surfaces, and debris.
- cleaning systems that are less bulky or require less assembly are typically insufficiently stable to withstand high water pressures necessary to fluidize settled solids and/or sludge to where they can be easily pumped out.
- the solids and/or sludge must be physically and/or mechanically removed by workers from the interior of enclosed areas, placing the workers in a dangerous and/or toxic environment and therefore at greater risk of exposure to health hazards and injuries.
- tank cleaning systems use fluid directing systems that result in random, wasted movement.
- some cleaning systems utilize gamma jets that perform cleaning via a 360° spherical spray pattern/movement.
- Embodiments of the present disclosure provide for improved methods, systems, and apparatuses for cleaning by implementation of a programmable, multi-axis articulating arm (MAAA) having a plurality of connected arm segments.
- Embodiments of the present disclosure provide for purpose driven, focused movement, rather than random, wasted movement.
- the MAAA may be connected to a track system.
- Each arm segment may have sensor and positioning components configured to provide a signal to a Programmable Logic Control (PLC) device to ensure correct positioning of the MAAA and track system according to pre-programmed algorithms.
- PLC Programmable Logic Control
- the algorithms may provide an efficient manner of cleaning an enclosed area without requiring constant repetitious movements from an operator.
- Embodiments of the present disclosure are configured to work integrally with an operator and amplify the impact of an operator by taking over the most repetitious of tasks.
- the interoperability of the system with the operator provides a safer and higher quality end product.
- the operator may be incorporated in the process by overseeing and ensuring the quality of work by the automated process.
- the programmable MAAA is designed to apply state of the art cleaning techniques with better-than-human accuracy. For example, a typical crew of seven workers may be replaced by a crew of two, resulting in cost reductions and making programmed cleaning an economically viable alternative on a greater number of enclosed areas, potentially leading to an increase in skilled employment in the trade.
- Embodiments of the present disclosure provide for a safe, efficient, and cost-saving alternative to placing workers in confined spaces and allow for completion of a safe and successful cleaning job while reducing project turnaround time.
- a cleaning apparatus in an example embodiment of the present disclosure, includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm.
- the arm may include at least two rotatable joints allowing for manipulation of the nozzle.
- the base may be configured to magnetically attach to a metal surface.
- the at least one magnet may be an electromagnet.
- the apparatus may further include at least one additional magnet configured to attach to the metal surface.
- the base may include base extensions extending from the at least one magnet at a first end and attaching to a plate at a second end.
- the apparatus may further include a support beam having a first end attached to the metal surface and a second end attached to the plate.
- the arm may include a first arm member attached to the plate; and a second arm member attached to the first arm member.
- the first arm member may be configured to rotate relative to the plate around a first axis.
- the second arm member may be configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis.
- the apparatus may include a pressure line mount configured to facilitate flow of high pressure fluids for cleaning.
- the pressure line mount may be connected to the second arm member via attachment to the nozzle at a first end and a pressure line at a second end.
- the nozzle may include dual spay ends. The nozzle may rotate such that each dual spray end spins and provides dual rotating jets of water for breaking-up materials.
- the apparatus may include control lines connected to a control station, the control lines configured to control movement of the at least two rotatable joints.
- the control lines may be at least one of electrical, pneumatic, and hydraulic.
- the apparatus may be configured to be disassembled into at least two separate components.
- the at least two separate components may include handles.
- the arm may include additional arm members such that the arm has more than two axes of articulated movement.
- the first arm member may include first and second hinge connectors and the second arm member may include third and fourth hinge connectors.
- the first hinge connector may be fixedly attached to the plate and the second hinge connector may be rotatably attached to the first hinge connector such that the second hinge connector rotates relative to the plate around the first axis.
- the third hinge connector may be fixedly attached to the second hinge connector and the fourth hinge connector may be rotatably attached to the third hinge connector such that the fourth hinge connector rotates relative to first arm member around the second axis.
- a system for cleaning an area includes a cleaning apparatus; at least one camera mounted within the area; and a vacuum line.
- the cleaning apparatus includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm.
- the arm may include at least two rotatable joints allowing for manipulation of the nozzle.
- the apparatus may be configured to spray a fluid via the nozzle and the vacuum line removes the fluid and any materials contained in the fluid.
- An operator may view the apparatus and area via the at least one camera.
- the system may include control lines configured to control movement of the at least two rotatable joints.
- the control lines may be connected to a control station and configured to allow the operator to remotely operate the apparatus.
- the system may include first and second longitudinal bars movably attached to each other.
- the apparatus may be movably attached to the first bar.
- the second bar may be movably attached to a mounting structure.
- the first and second bars and the apparatus may be movable in multiple directions and axes.
- the first and second bars may be perpendicularly attached to each other.
- the apparatus may be magnetically attached to the first bar via the at least one magnet.
- the second bar may be perpendicularly attached to the mounting structure.
- a cleaning and track system in an example embodiment of the present disclosure, includes a cleaning apparatus, a track system, at least one camera mounted within the area; and a vacuum line.
- the apparatus includes a base; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm.
- the arm may include at least two rotatable joints allowing for manipulation of the nozzle.
- the track system may include first and second longitudinal bars movably attached to each other.
- the second bar may be movably attached to a mounting structure.
- the first and second bars may be movable in multiple directions and axes.
- the apparatus may be movably attached to the track system.
- the apparatus may be configured to spray a fluid via the nozzle and the vacuum line removes the fluid and any materials contained in the fluid.
- An operator may view the apparatus and area via the at least one camera.
- the system may include control lines configured to control movement of the at least two rotatable joints.
- the control lines may be connected to a control station and configured to allow the operator to remotely operate the apparatus and track system.
- a method of cleaning an area includes magnetically mounting a cleaning apparatus within the area; connecting the cleaning apparatus to a high pressure fluid line; remotely operating the cleaning apparatus to control a direction of flow from the high pressure fluid line; directing a flow of fluids towards material on a surface of the area to remove the material from the surface; and removing the fluids and material via a vacuum line.
- the cleaning apparatus includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm.
- the arm may include at least two rotatable joints allowing for manipulation of the nozzle.
- the apparatus may be remotely operated via control lines connected from a control station to the apparatus, the control lines configured to control movement of the at least two rotatable joints.
- the method may include magnetically attaching the at least one magnet to a track system.
- the track system may include first and second longitudinal bars movably attached to each other.
- the apparatus may be movably attached to the first bar.
- the second bar may be movably attached to a mounting structure.
- the first and second bars and the apparatus may be movable in multiple directions and axes.
- the apparatus may be programmed by the steps of instructing a route to the apparatus by the steps of controlling the apparatus and defining the route via implementation of a starting cleaning sequence, and logging resulting route data from sensor and positioning components to a memory.
- the sensor and positioning components may be located on at least one of the apparatus and track system.
- the route may include an initial cleaning of the area including a sequence of maneuvers positioning the apparatus for optimal cleaning purposes.
- the apparatus may further be programmed by the steps of processing logged route data into a route profile, and reproducing the route profile automatically using a Programmable Logic Control (PLC) device.
- PLC Programmable Logic Control
- the route profile may include a defined optimal cleaning sequence.
- the apparatus may be operated by the steps of implementing the stating cleaning sequence using the PLC device; sending the signal to an Electro-Hydraulic Flow Control (EHFC) device via the PLC device; positioning the apparatus and arm in an optimal cleaning position based on the signal and flow via the EHFC device; and performing a cleaning motion for a predetermined amount of time according to the defined optimal cleaning sequence.
- the PLC device may be configured to receive an electrical signal from the sensor and positioning components once the starting cleaning sequence is implemented.
- the EHFC device may be configured to provide at least one of hydraulic, pneumatic, and electrical flow.
- the PLC device may be configured to repeat the defined optimal cleaning sequence by simultaneously sending and receiving signals.
- the method may include observing movements of the cleaning apparatus and track system via at least one camera mounted within the area or on the apparatus. The steps for operating the apparatus may be repeated until the area is cleaned.
- the method may include turning off the at least one magnet to dismount the cleaning apparatus.
- the at least one magnet may be electro-magnetic.
- a cleaning apparatus in an example embodiment of the present disclosure, includes a base; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm.
- the arm may include at least two rotatable joints allowing for manipulation of the nozzle.
- the apparatus may include base extensions extending from the base at a first end and attaching to a plate at a second end.
- the arm may include a first arm member attached to the plate; and a second arm member attached to the first arm member.
- the first arm member may be configured to rotate relative to the plate around a first axis.
- the second arm member may be configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis.
- the apparatus may include a pressure line mount configured to facilitate flow of high pressure fluids for cleaning.
- the pressure line mount may be connected to the second arm member via attachment to the nozzle at a first end and a pressure line at a second end.
- the apparatus may include control lines connected to a control station, the control lines configured to control movement of the at least two rotatable joints.
- a cleaning apparatus in an example embodiment of the present disclosure, includes an arm and a nozzle assembly attached to an end of the arm.
- the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus.
- a cleaning and track system in an example embodiment of the present disclosure, includes a cleaning apparatus and a track system movably attached to the apparatus.
- the apparatus includes an arm and a nozzle assembly attached to an end of the arm.
- the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus.
- the track system includes a gear rack and a track member movably attached to the gear rack. A first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor.
- the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
- At least one camera is mounted near the cleaning and track system.
- a vacuum line is mounted near the cleaning and track system.
- the apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid. An operator views the apparatus via the at least one camera.
- a cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly.
- the arm includes a first rotatable arm member defining a first axis, and the first rotatable arm is rotatable about the first axis.
- the arm includes a second rotatable arm member defining a second axis and connected to the first rotatable member, and the second rotatable arm is rotatable about the second axis.
- the cleaning apparatus includes at least one sensor on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- a cleaning system includes a cleaning apparatus and a drive system.
- the drive system includes a track and a carriage movable along the track.
- the carriage includes a spring block, a track member, and at least one spring connecting the spring block and the track member. The at least one spring member is movable between an expanded position and a compressed position such that the r spring block is adjustable relative to the track member.
- the cleaning apparatus is attached to the carriage.
- a cleaning system includes a cleaning apparatus with a nozzle assembly and an arm supporting the nozzle assembly.
- the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member.
- the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis.
- at least one sensor is on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- the cleaning system also includes a drive system having a track and a carriage movable along the track, where the cleaning apparatus is attached to the carriage.
- FIG. 1 is an isometric view of a cleaning apparatus according to aspects of the present disclosure.
- FIG. 2 is an isometric view of the cleaning apparatus of FIG. 1 .
- FIG. 3 is a top view of the cleaning apparatus of FIG. 1 .
- FIG. 4 is an isometric view of a cleaning and track system according to aspects of the present disclosure.
- FIG. 4A is an enlarged partial cutaway view of an attachment within the cleaning and track system of FIG. 4 .
- FIG. 4B is an enlarged partial cutaway view of another attachment within the cleaning and track system of FIG. 4 .
- FIG. 5 is a flow chart depicting a method of programming a cleaning and track system according to aspects of the present disclosure.
- FIG. 6 is a flow chart depicting a method of cleaning using a programmable cleaning and track system, according to aspects of the present disclosure.
- FIG. 7 is an isometric view of a cleaning apparatus according to aspects of the present disclosure.
- FIG. 8 is another isometric view of the cleaning apparatus of FIG. 7 .
- FIG. 9 is another isometric view of the cleaning apparatus of FIG. 7 .
- FIG. 10 is another isometric view of the cleaning apparatus of FIG. 7 .
- FIG. 11 is another isometric view of the cleaning apparatus of FIG. 7 .
- FIG. 12 is a front view of a fixed end of an actuator assembly according to aspects of the present disclosure.
- FIG. 13 is a front view of a rotating end of an actuator assembly according to aspects of the present disclosure.
- FIG. 14 is an isometric view of a position sensor.
- FIG. 15 is a partial perspective view of a nozzle according to aspects of the present disclosure.
- FIG. 16 is an isometric view of a cleaning and track system according to aspects of the present disclosure.
- FIG. 17 is another isometric view of the cleaning and track system of FIG. 16 .
- FIG. 18 is another isometric view of the cleaning and track system of FIG. 16 .
- FIG. 19 is a partial perspective view of the cleaning and track system of FIG. 16 within a container.
- FIG. 20 is another partial perspective view of the cleaning and track system of FIG. 16 within the container of FIG. 19 .
- FIG. 21 is a perspective view of a cleaning system according to aspects of the present disclosure.
- FIG. 22 is another perspective view of the cleaning system of FIG. 21 with a cover.
- FIG. 23 is an enlarged perspective view of a cleaning apparatus of the cleaning system of FIG. 21 .
- FIG. 24 is a partial perspective view of the cleaning system of FIG. 21 within a container.
- Embodiments of the present disclosure include a cleaning apparatus having a programmable MAAA.
- Embodiments of the MAAA may be portable, meaning that the MAAA may be capable of easily being disassembled into separate components and transported.
- the apparatus may be mounted on a wall in an interior of an enclosed area to be cleaned.
- the enclosed area may be defined by interiors and/or exteriors of containers, vessels, tanks, or other structures that require cleaning.
- the apparatus may also be mounted on a manhole or similar opening in other embodiments.
- the apparatus may include at least one magnet configured to magnetically mount the apparatus, although it need not. Magnetic mounting allows for the apparatus to be mounted at virtually unlimited locations with the enclosed area, allowing for more focused and efficient cleaning and simple removal.
- the apparatus may also be bolted in place.
- the apparatus may include a high pressure fluid line and high pressure nozzles.
- the apparatus may be configured for remote operation by an operator outside of the enclosed area being cleaned.
- Embodiments of the present disclosure also include a cleaning and track system.
- the cleaning and track system includes a cleaning apparatus as described herein mounted to a track system and/or mounting structure placed within an enclosed area, and the MAAA of the apparatus may be movable through additional axes within the enclosed area.
- the cleaning and track system may be controlled manually or from pre-programmed algorithms through a PLC device. Sensor and positioning components on the MAAA and/or track system may provide a signal to the PLC device to ensure correct positioning of the MAAA and/or track system according to the pre-programmed algorithms.
- the cleaning apparatus and/or cleaning and track system may be configured such that they are attachable at a location near an area targeted for cleaning within the enclosed area.
- Embodiments of the present disclosure are durable and allow for precise control of water flows, which may be directed at specific problem or target areas rather than merely cycling to clean the entire enclosed area. Performing targeted cleaning allows for increased efficiency and decreased waste.
- the apparatus 100 includes an MAAA 103 .
- the MAAA 103 includes a plurality of connected arm segments having a first arm member 122 and second arm member 136 . In other embodiments, the MAAA may have more or less arm members.
- First arm member 122 extends from plate 124 .
- Second arm member 136 is attached to first arm member 122 distal to a plate 124 .
- First and second arm members 122 , 136 may each include at least one rotatable joint configured so that the arm members 122 , 136 may be manipulated in multiple directions.
- the first arm member 122 includes first and second hinge connectors 140 , 139 .
- the first hinge connector 140 is fixedly attached to plate 124 .
- the second hinge connector 139 is rotatably attached to first hinge connector 140 such that second hinge connector 139 rotates relative to plate 124 and to first hinge connector 140 about a first axis of rotation. As shown in FIG. 2 , in some embodiments, the second hinge connector 139 rotates about the X-axis.
- the second arm member 136 includes third and fourth hinge connectors 137 , 135 .
- the third hinge connector 137 is fixedly attached to second hinge connector 139 such that second arm member 136 rotates about the same axis of rotation as the second hinge connector 139 .
- the fourth hinge connector 135 is rotatably attached to third hinge connector 137 such that fourth hinge connector 135 rotates relative to the third hinge connector 137 and first arm member 122 about a second axis of rotation that is substantially perpendicular to the first axis of rotation of the second hinge connector 139 . As shown in FIG. 2 , in some embodiments, the fourth hinge connector 135 rotates about the Y-axis.
- first arm member 122 and second arm member 136 allow for the MAAA 103 to be moved up and down and side to side, covering the entire surface of the interior of the enclosed area.
- first arm member 122 and the second arm member 136 may include swivel connectors and/or other connections/joints to facilitate cleaning by apparatus 100 .
- the number and location of the hinge connectors and/or swivel connectors may be varied to achieve movement of apparatus 100 along additional axes as desired.
- an elbow member 120 is attached to second arm member 136 .
- the elbow member 120 is attached to the fourth hinge connector 135 , although it need not be.
- the elbow member 120 extends away from second arm member 136 and attaches to a pressure line mount 116 .
- a nozzle 110 is attached to a first end of the pressure line mount 116 .
- a pressure line 118 is attached to a second end of pressure line mount 116 .
- the nozzle 110 includes dual spray ends 112 .
- the nozzle 110 may be a variable speed nozzle that rotates, thereby spinning each dual spray end 112 and providing dual rotating jets of fluids (such as water or other suitable fluids) for breaking-up and fluidizing materials.
- the nozzle 110 may include a single spray end and/or other suitable configuration designed to provide fluid at high pressures to fluidize material. Water flow through the nozzle 110 may be provided at high pressures and high flow rates.
- the water flow is approximately 100 GPM (gallons per minute) at approximately 900 PSI (pounds per square inch).
- the apparatus 100 may be controlled to accommodate different (e.g., increased or reduced) flow rates and pressures.
- the apparatus may be controlled through various mechanisms including, but not limited to, by increasing magnetic strength, changing the number and/or configuration of magnets, changing the configuration of components of apparatus 100 , and/or providing additional supports for mounting apparatus 100 against the interior wall 132 and/or floor of the enclosed area, or various other suitable mechanisms.
- the apparatus 100 includes a base 125 with a pair of magnets 128 configured to mount apparatus 100 to wall 132 , such as within an enclosed area.
- the wall 132 may be made of metal or has metallic properties such that magnets 128 may easily attach to wall 132 .
- the magnets 128 may be sufficiently strong to withstand the forces of the apparatus 100 during manipulation and cleaning while maintaining its location within the enclosed area.
- the magnets 128 are electromagnets supplied with controllable electric current such that the magnetic field is “turned off” for removal of apparatus 100 .
- the wall 132 may not be made of metal or have metallic properties such that a metallic material may have to be placed on an outside surface of the wall 132 to allow for the magnets 128 to mount the apparatus 100 to the wall 132 via attraction of magnets 128 to metallic material.
- the apparatus 100 may utilize other permanent and/or non-permanent mechanisms to attach to the wall 132 including, but not limited to, pins, nuts, bolts, chains, screws, clips, clasps, hooks, and various other suitable mechanisms for mounting the apparatus 100 on the wall 132 either permanently or non-permanently.
- the base 125 may include base extensions 126 . As illustrated in FIG. 1 , in some examples, a first end of each base extension 126 is connected to at least one magnet 128 , and a second end of each base extension 126 is connected to a plate 124 . As illustrated in FIG. 2 , a support beam 130 may be provided to further support the apparatus 100 . In some embodiments, the support beam 130 includes a first end attached to the plate 124 and/or the base extensions 126 and a second end 131 attachable to the wall 132 through various permanent or non-permanent mechanisms as discussed above. The support beam 130 may have a curved shape, flat shape, or other shape to support apparatus 100 .
- the apparatus 100 may include handles 114 to allow a worker to carry components of MAAA 103 to a desired location.
- the location and/or number of handles 114 should not be considered limiting on the current disclosure, as any number of handles 114 may be provided at various locations on the apparatus 100 as desired.
- the apparatus 100 may separate into two or more components for transport, and each component may include at least one handle 114 , although they need not.
- one handle 114 may be on the base 125 and another handle may be on the MAAA 103 as illustrated in FIG. 1 .
- the apparatus 100 may separate into five separate components, allowing for easy transport and access to difficult to reach locations.
- the apparatus 100 may be assembled within an enclosed area, or outside the enclosed area and placed into the area fully assembled.
- the first and second arm members 122 , 136 may be connected to control lines 134 , 138 as illustrated in FIG. 1 .
- the control lines 134 , 138 are configured to control movement (e.g., rotation) of the first and second arm members 122 , 136 via pneumatics, electronics, hydraulics, or other applicable combinations or other suitable movement mechanisms thereof.
- the apparatus 100 may be remotely controlled by an operator at a control station external to the enclosed area.
- the control station may be operatively connected to the apparatus 100 and transmits signals to apparatus 100 via control lines 134 , 138 based on the operator's input at the control station.
- a camera may be attached to the enclosed area prior to apparatus 100 being mounted to the enclosed area, or may be attached to apparatus 100 prior to mounting.
- a display device may also be provided at the control station so that the operator may monitor the apparatus 100 inside the enclosed area via the camera and make any necessary adjustments to apparatus 100 .
- the apparatus 100 may be attached to an external plate 200 and placed into an enclosed area at a manway access point 141 .
- the apparatus 100 is attached to the external plate 200 and then lowered into the enclosed area to be cleaned.
- the external plate 200 is sized such that the that external plate 200 remains external and only the apparatus 100 reaches into the enclosed area.
- a width of the external plate 200 may be greater than a width of the manway access point 141 .
- the external plate 200 may include one or more holes for line access such as a vacuum line and/or pressurized fluid line.
- the external plate 200 may include handles for maneuvering.
- FIGS. 12 and 13 are front views of a fixed end 1608 and rotating end 1610 of an actuator assembly.
- FIG. 14 is an isometric view of a position sensor.
- FIG. 15 is a partial isometric view of a nozzle 4180 .
- Cleaning apparatus 1000 may include features of cleaning apparatus 100 described herein.
- the apparatus 1000 includes an MAAA 1030 .
- the MAAA 1030 is similar to the MAAA 103 and includes a plurality of connected arm segments.
- the MAAA 1030 includes a first arm member 1220 , second arm member 1360 , and third arm member 1590 .
- the MAAA 1030 may have additional or fewer arm members as desired.
- the first arm member 1220 is secured to and extends from a plate 1240 .
- the second arm member 1360 is attached to first arm member 1220 .
- the third arm member 1590 is attached to second arm member 1360 .
- the first and second arm members 1220 , 1360 may each include at least one rotatable joint such that the first and second arm members 1220 , 1360 may be manipulated in multiple directions.
- the first arm member 1220 includes first and second hinge connectors 1400 , 1390 interconnected via a rotatable first actuator assembly 1600 .
- the first hinge connector 1400 is fixedly attached to plate 1240 and the second hinge connector 1390 is rotatably attached to first actuator assembly 1600 such that second hinge connector 1390 rotates relative to plate 1240 and to first hinge connector 1400 about a first axis of rotation.
- second hinge connector 1390 rotates about the Y-axis.
- the second arm member 1360 includes third and fourth hinge connectors 1370 , 1350 interconnected via a rotatable second actuator assembly 1602 as illustrated in FIG. 8 .
- the third hinge connector 1370 is fixedly attached to second hinge connector 1390 such that second arm member 1360 rotates about the same axis of rotation as the second hinge connector 1390 .
- the fourth hinge connector 1350 is rotatably attached to second actuator assembly 1602 such that fourth hinge connector 1350 rotates relative to third hinge connector 1370 and first arm member 1220 about a second axis of rotation that is substantially perpendicular to the first axis of rotation of the second hinge connector 1390 . As shown in FIG. 7 , the fourth hinge connector 1350 rotates about the X-axis.
- the third arm member 1590 includes a housing 1591 fixedly attached to the third actuator assembly 1604 .
- the third actuator assembly 1604 includes a fixed end 1608 attached to the housing 1591 and a rotating end 1610 that is rotatable about a third axis of rotation (which in some embodiments, is the Z-axis) relative to the fixed end 1608 .
- the rotating end 1610 is attached to a shaft 4170 such that the shaft 4170 rotates about the Z-axis.
- the shaft 4170 extends through the third actuator assembly 1604 and is rotatably attached to the housing 1591 .
- the housing 1591 of third arm member 1590 is fixedly attached to fourth hinge connector 1350 of second arm member 1360 such that third arm member 1590 rotates in the same second axis of rotation as fourth hinge connector 1350 .
- third arm member 1590 rotates around the X-axis.
- the third arm member 1590 extends away from second arm member 1360 and attaches to a shaft 4170 of a nozzle assembly 4150 as illustrated in FIG. 7 .
- the components of apparatus 1000 may be made of suitable materials such as composite materials, metals, and/or plastic. In one embodiment, components of apparatus 1000 may be made of aluminum to protect components within apparatus 1000 and allow for optimal rotational capabilities and functionalities of apparatus 1000 .
- the combination of the rotation of first arm member 1220 , second arm member 1360 , and/or third arm member 1590 of the MAAA 1030 allows for the apparatus 1000 to be rotated about X, Y, and Z axes such that the nozzle assembly 4150 can direct a spray in a particular direction within an interior of an enclosed area.
- first arm member 1220 , second arm member 1360 , and/or third arm member 1590 may include swivel connectors and/or other connections/joints/assemblies to facilitate cleaning by the apparatus 1000 .
- the number and location of the connections/joints/assemblies may be varied to achieve a desired movement of the apparatus 1000 .
- the nozzle assembly 4150 includes a nozzle 4180 held in place by a nozzle grip 4160 attached to the shaft 4170 .
- the nozzle assembly 4150 is configured for 360° rotation via connection of the shaft 4170 to the rotatable third actuator assembly 1604 . As shown in FIG. 7 , the nozzle assembly 4150 may rotate about the Z-axis.
- the nozzle assembly 4150 may be attached to a pressure line (not shown).
- the nozzle 4180 may include single and/or dual spray ends.
- the nozzle 4180 may be a high pressure and/or variable speed nozzle that rotates, thereby spinning spray ends and providing single or dual rotating jets of fluids for breaking-up and fluidizing materials.
- the nozzle 4180 includes an end fitted with an end cap 4190 with a single fluid exit hole 4191 .
- nozzle 4180 may include an end 1501 with multiple exit holes 1503 for increased flow of fluids.
- the end cap 4190 with the single fluid exit hole 4191 may be configured to fit onto the of nozzle 4180 having multiple exit holes to convert the multiple exit holes into a single exit hole for more direct/focused flow of fluids.
- the nozzle 4180 may include other suitable configurations designed to provide fluid at high pressures to fluidize material. As described previously, water flow may be provided at high pressures and high flow rates. Larger flow rates and pressures are possible by increasing magnetic strength, numbers, and/or configurations of components of apparatus 1000 , and/or by providing additional supports for mounting apparatus 1000 against the interior wall and/or floor of the enclosed area.
- the first actuator assembly 1600 , second actuator assembly 1602 , and/or third actuator assembly 1604 each include a fixed end 1608 (see, e.g., FIG. 12 ), a rotating end 1610 (see, e.g., FIG. 13 ) opposite the fixed end 1608 , and a shaft 4170 (or similar device) positioned within each of the first actuator assembly 1600 , second actuator assembly 1602 , and/or third actuator assembly 1604 , respectively.
- a first end of shaft may interact with and/or connect to fixed end 1608 and a second end of shaft may interact with and/or connect to rotating end 1610 .
- sensors may be provided on the fixed end 1608 and the rotating end 1610 of each actuator assembly. By providing some sensors on the fixed end 1608 and some sensors on the rotating end 1610 , detection of relative movement between the sensors on the rotating end 1610 and on the fixed end 1608 can be used to determine rotation or movement of the arm segments.
- the fixed end 1608 of the first actuator assembly 1600 is attached to a surface of first hinge connector 1400 and the rotating end 1610 of the first actuator assembly 1600 is attached to a surface of the second hinge connector 1390 .
- the fixed end 1608 of the second actuator assembly 1602 is attached to a surface of the third hinge connector 1370 and the rotating end 1610 of the second actuator assembly 1602 is attached to a surface of the fourth hinge connector 1350 .
- the fixed end 1608 of the third actuator assembly 1604 is attached to the housing 1591 and the rotating end 1610 of the third actuator assembly 1604 is attached to the shaft 4170 of the nozzle assembly 4150 .
- the shaft 4170 may extend to the housing 1591 and is rotatably attached to the housing 1591 .
- multiple sensors may be affixed to the exterior and/or interior of the MAAA 1030 to detect the positioning and location of components of the MAAA 1030 , including but not limited to the first arm member 1220 , second arm member 1360 , third arm member 1590 , and/or nozzle assembly 4150 .
- a first external sensor 1500 and a second external sensor 1502 may be attached to an exterior surface of the first hinge connector 1400 and third hinge connector 1370 , respectively, such that they interface with the fixed end 1608 of each of the first actuator assembly 1600 and second actuator assembly 1602 , respectively.
- a first internal sensor 1504 may be installed within housing 1591 such that it interfaces with fixed end 1608 of third actuator assembly 1604 .
- the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 may be attached to other suitable exterior and/or interior areas of MAAA 1030 .
- the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 may be rotary angle/position sensors such as the RS53 Rotary Position Sensors provided by the Parker Harmifin Corporation, as illustrated in FIG. 14 , or various other suitable sensors for detecting rotation and/or a position of the arm segments. While the sensor illustrated in FIG. 14 is illustrated for use as the first external sensor 1500 , it may also be used for the second external sensor 1502 and/or first internal sensor 1504 . In some examples, the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 may be analog output, non-contacting ferrous sensors with an angular range of up to 360 degrees.
- first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 may utilize Hall Effect technology and may be customized in a single package to reduce rotary alignment issues and variations in signals caused by vibration and axial variations.
- Hall Effect sensors are transducers that vary their output voltage in response to a magnetic field, and are commonly used for proximity switching, positioning, speed detection, and other sensing applications.
- the first external sensor 1500 is illustrated.
- the second external sensor 1502 and/or the first internal sensor 1504 may have a configuration similar to that of the first external sensor 1500 illustrated in FIG. 14 .
- the first external sensor 1500 may include a rotating keyhole A, which is configured to rotate during rotation of components of the MAAA 1030 (e.g., including the first arm member 1220 , second arm member 1360 , and/or third arm member 1590 , respectively) via connection to a shaft of the first, second, and third actuator assemblies 1600 , 1602 , 1604 respectively.
- the first and second external sensors 1500 , 1502 may each be attached to each of the first and second arm members 1220 , 1360 , respectively, such that a first end of the shaft 4170 of each of the first and second actuator assemblies 1600 , 1602 is inserted through the fixed end 1608 of each of the first and second actuator assemblies 1600 , 1602 , respectively, and into the rotating keyhole A of each of the first and second external sensors 1500 , 1502 , respectively.
- the first internal sensor 1504 may be installed within the housing 1591 and attached to the third actuator assembly 1604 such that the shaft 4170 is inserted into the rotating end 1610 of the third actuator assembly 1604 , through the fixed end 1608 of the third actuator assembly 1604 , and into the rotating keyhole A of the first internal sensor 1504 .
- the first external sensor 1500 may also include power and communication wires 1510 used to provide a signal from the first external sensor 1500 (and/or second external sensor 1502 and/or first internal sensor 1504 ) to other components, such as a PLC device used to program and/or control movement of the MAAA 1030 .
- signals from the sensor 1500 may include accurate readings of the positioning of components of the MAAA 1030 , thereby allowing for more optimized automated movement of the MAAA 1030 within the enclosed area to be cleaned.
- Embodiments of the MAAA 1030 described herein may allow for 360° rotation of movement of each of the first, second, and third actuator assemblies 1600 , 1602 , 1604 , as well as the nozzle 4180 attached to the third actuator assembly 1604 , via connections to the control lines 1340 , 1380 . See FIGS. 10 and 11 .
- the control lines 1340 , 1380 are configured to control movement, such as rotation of the first, second, and/or third arm members 1220 , 1360 , 1590 via pneumatics, electronics, hydraulics, or other applicable combinations thereof. As illustrated in FIGS. 10 and 11 , the control lines 1340 , 1380 may be directly connected to each of the first, second, and third actuator assemblies 1600 , 1602 , 1604 , and the control components within and attached to the first, second, and third actuator assemblies 1600 , 1602 , 1604 described herein.
- control lines 1340 , 1380 may utilize a wireless/radio signal to control movement of the first, second, and/or third arm members 1220 , 1360 , 1590 .
- a transmitter such as a transmitter within mobile operating device (or other suitable devices or transmitters) may send a signal to a receiver configured to control various components of the system, including but not limited to an Electro-Hydraulic Flow Control (EHFC) device connected to the apparatus 1000 via the control lines 1340 , 1380 .
- EHFC Electro-Hydraulic Flow Control
- repeaters may be added to extend the range of the radio signal over longer distances.
- control lines 1340 , 1380 including power and communication wires 1510 of the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 , may be used to send positioning data of components of the MAAA 1030 from the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 to a PLC device used to program and/or control movement of the MAAA 1030 .
- the apparatus 1000 may then be controlled manually or from pre-programmed algorithms through the PLC device such that components of apparatus 1000 are movable through multiple directions and axes within an enclosed area to allow for more focused cleaning of surfaces of the enclosed area.
- the apparatus 1000 may be remotely controlled by an operator at a control station external to the enclosed area.
- the control station may be a stationary or non-stationary structure.
- the control station may be operatively connected to the apparatus 1000 and transmit signals to the apparatus 1000 via the control lines 1340 , 1380 based on the operator's input at the control station.
- a camera may be attached to the enclosed area prior to the apparatus 1000 being mounted to the enclosed area, or may be attached to apparatus 1000 prior to mounting.
- a display device may also be provided at the control station so that the operator may monitor the apparatus 1000 inside the enclosed area via the camera and make any necessary adjustments to the apparatus 1000 .
- the cleaning and track system 400 may include the cleaning apparatus 100 and/or cleaning apparatus 1000 attached to a track/drive system 414 and/or to a mounting support structure 415 , whereby the apparatus 100 and/or track/drive system 414 may be movable through multiple axes within the enclosed area.
- the cleaning and track system 400 may be automated and/or remotely operable.
- the cleaning and track system 400 may be controlled via hydraulic, pneumatic, and/or electrical methods.
- the cleaning and track system 400 includes the cleaning apparatus 100 with the MAAA 103 having the first arm member 122 and the second arm member 136 .
- the MAAA 103 is connected to a single high pressure water nozzle 418 configured to provide for additional impact force at the area being cleaned.
- the MAAA 103 may be connected to the nozzles 110 described herein or other configurations of nozzles 110 .
- the cleaning apparatus 100 is attached to the track/drive system 414 .
- the track/drive system 414 includes a first support 416 and a second support 417 .
- the first support 416 includes covers 421 that at least partially surround a rod 419 .
- two covers 421 are illustrated, in other examples, any number of covers 421 may be provided, including a single cover 421 (e.g., two covers formed as a unitary component) or more than two covers 421 .
- the covers 421 may be spaced apart by a gap 302 that is configured to accommodate movement of a first trolley unit 450 along the rod 419 .
- the covers 421 may have a generally inverted U-shape, a generally inverted V-shape, curved hook, L-shaped, T-shaped, or various other suitable shapes as desired.
- the second support 417 includes covers 422 that at least partially surround a rod 420 .
- the number or shape of the covers 422 should not be considered limiting on the current disclosure.
- the covers 422 of the second support 417 may be spaced apart by a gap 304 that is configured to accommodate movement of a second trolley unit 451 along the rod 420 .
- the first support 416 extends in a direction (e.g., along an X-axis) that is substantially perpendicular to a direction (e.g., along a Y-axis) in which the second support 417 extends, although it need not.
- the first support 416 may be at other angular orientations relative to the second support 417 as desired.
- the first support 416 includes the rod 419 and the second support 417 includes the rod 420 .
- the rods 419 , 420 include threading that threadbly engages with the trolleys 450 , 451 , respectively, although it need not.
- the rods 419 and 420 are rotatably supported within the first support 416 and the second support 417 , respectively. As illustrated in FIG. 4 , in some examples, the rod 419 may be rotatable about the X-axis (or the axis along which the first support 416 extends) and the rod 420 may be rotated about the Y-axis (or the axis along which the second support 417 extends).
- the first support 416 includes a first motor 306 that is configured to rotate the rod 419 and the second support 417 includes a second motor 308 that is configured to rotate the rod 420 .
- other suitable mechanisms for rotating the rods 419 , 420 e.g., hydraulic, pneumatic, and/or electrical power, etc.
- the trolleys 450 , 451 may be moved linearly along the rods 419 , 420 , respectively.
- nuts, bolts, pins, ribs, or various other suitable mechanisms may be provided to limit the rotation of each of the rods 419 , 420 .
- the cleaning apparatus 100 is attached to the first support 416 such that the cleaning apparatus 100 may be movable and/or driven along the length of the first support 416 .
- the cleaning apparatus 100 may be magnetically attached to the first support 416 or attached via the first trolley unit 450 as described herein. Alternatively, the cleaning apparatus 100 may be attached to the first support 416 via other attachment mechanisms.
- the apparatus 100 may be remotely controlled and mechanically driven along first support 416 . As shown in FIG. 4 , in some non-limiting examples, the cleaning apparatus 100 is movable along the X-axis.
- the first support 416 is attached to second support 417 such that the first support 416 may be movable and/or driven along the length of the second support 417 .
- the first support 416 may be magnetically attached to second support 417 or attached via the second trolley unit 451 as described herein.
- the first support 416 may be attached to the second support 417 via other attachment mechanisms.
- the first support 416 may be remotely controlled and mechanically driven. As shown in FIG. 4 , the first support 416 and attached cleaning apparatus 100 are movable along the Y-axis.
- FIGS. 4A and 4B show enlarged cutaway views of the trolleys 450 , 451 .
- the apparatus 100 is attached to the first trolley unit 450 , although it need not be.
- the first trolley unit 450 includes an attachment portion 310 that is threadably engaged with the rod 419 such that rotation of the rod 419 linearly moves the first trolley unit 450 along the rod 419 .
- the attachment portion 310 is connected to a base portion 312 of the first trolley unit 450 .
- the attachment portion 310 may extend through the gap 302 .
- the base portion 312 of the first trolley unit 450 may support the apparatus 100 through various suitable permanent or non-permanent mechanisms including, but not limited to, screws, pins, hooks, bolts, adhesives, welding, or various other suitable mechanisms.
- the attachment portion 310 includes a plate 318 extending from the base portion 312 and having a cylindrical rod-receiving portion 316 . When the first trolley unit 450 is mounted on the rod 419 , the rod 419 may extend through the cylindrical rod-receiving portion 316 .
- the attachment portion 310 may have various other components and/or configurations suitable for threadably supporting the first trolley unit 450 on the rod 419 . Through the first trolley unit 450 , the apparatus 100 is movable along the X-direction defined by the first support 416 .
- Second trolley unit 451 is attached to first support 416 at a first end and second support 417 at a second end. Similar to the first trolley unit 450 , the second trolley unit 451 includes an attachment portion 320 and a base portion 322 .
- the attachment portion 320 is threadably engaged with the rod 420 such that rotation of the rod 420 linearly moves the second trolley unit 451 along the rod 420 . In some examples, when the second trolley unit 451 is supported on the rod 420 , the attachment portion 320 extends through the gap 304 .
- the base portion 322 may support the first support 416 through various suitable permanent or non-permanent mechanisms including, but not limited to, screws, pins, hooks, bolts, adhesives, welding, or various other suitable mechanisms.
- the attachment portion 320 includes a plate 324 extending from the base portion 322 and having a cylindrical rod-receiving portion 326 .
- the rod 420 may extend through the cylindrical rod-receiving portion 326 .
- the attachment portion 320 may have various other components and/or configurations suitable for threadably supporting the second trolley unit 451 on the rod 420 .
- the first support 416 (and thus the apparatus 100 ) is movable along the Y-direction defined by the second support 417 .
- the rods 419 , 420 may be movably attached within the first and second supports 416 , 417 via other suitable mechanisms so as to allow for lateral movement of rods 419 , 420 within the first and second supports 416 , 417 .
- the first and second supports 416 , 417 may be attached to each other via magnets. Magnets may be permanent magnets or electromagnets. In other embodiments, the first and second supports 416 , 417 may be attached to each other via other temporary or permanent attachment mechanisms.
- opposing ends of the first and second supports 416 , 417 may be supported on a wall or other structure via magnets or other temporary or permanent attachment mechanisms.
- the first support 416 may be pre-mounted to an interior surface of a container and the second support 417 may be subsequently inserted into the container and mounted onto the first support 416 .
- the cleaning and track system 400 may be attached to a mounting support structure 415 via magnets or other temporary or permanent attachment mechanisms.
- the cleaning and track system 400 may be strategically placed within an enclosed area according to any specific positioning required for comprehensive movement.
- the mounting support structure 415 is a longitudinal I-beam.
- the mounting support structure 415 may be a rounded rod/bar and/or have other shapes suitable for attachment of the cleaning and track system 400 .
- the second support 417 may extend in a direction perpendicular to the mounting support structure 415 , although in other embodiments, the second support 417 may be at any suitable angular configuration relative to the mounting support structure 415 .
- the cleaning apparatus 100 and the MAAA 103 may move in a multitude of directions within the enclosed area—including but not limited to horizontal, vertical, circular, and/or spiral directions so as to cover any and all enclosed areas.
- the mounting support structure 415 may be mounted within an interior of the enclosed area. In other embodiments, the mounting support structure 415 may be lowered or inserted into any area to be cleaned, including manholes.
- each component of the cleaning and track system 400 including cleaning apparatus 100 , first support 416 , and second support 417 , as well as mounting support structure 415 may be separately mounted within or outside a container, and/or may be maneuvered into the container as separate components or as a pre-mounted system/apparatus prior to cleaning.
- the track/drive system 414 may be mounted within a container, and the apparatus 100 may be lowered into the container and attached to the track/drive system 414 .
- the apparatus 100 may be mounted within the container and the track/drive system 414 may be lowered into the container and attached to the apparatus 100 .
- the first support 416 of track/drive system 414 may be mounted within the container and the second support 417 of track/drive system 414 may be lowered into the container and attached to the first support 416 .
- the mounting support structure 415 may be mounted within the container and the track system 400 and/or its individual components may be lowered into the container and attached to the mounting support structure 415 .
- FIGS. 16-20 illustrate another embodiment of a cleaning and track system 4000 .
- the cleaning and track system 4000 may include the cleaning apparatus 100 and/or cleaning apparatus 1000 disclosed herein attached to a track/drive system 4140 , whereby the apparatus 100 , 1000 and/or the track/drive system 4140 may be movable through multiple axes within an enclosed area.
- Cleaning and track system 4000 may be automated and/or remotely operable.
- Cleaning and track system 4000 may be controlled via hydraulic, pneumatic, and/or electrical methods.
- the cleaning and track system 4000 may be configured to be mounted outside a tank and/or enclosed area to be cleaned to reduce and/or eliminate entry into the enclosed area.
- Components of the cleaning and track system 4000 including the apparatus 1000 and/or the track/drive system 4140 , may be mounted within an interior 4003 of the container 4001 prior to cleaning, and/or lowered or inserted into any area to be cleaned, including through manholes or openings 4007 in the container 4001 . See FIGS. 19 and 20 .
- Cleaning and track system 4000 may be configured to be easily moved between different areas that require cleaning.
- Cleaning and track system 4000 may be strategically placed according to any specific positioning required for comprehensive movement within an enclosed area.
- the cleaning and track system 4000 includes the cleaning apparatus 1000 with the MAAA 1030 having a second arm member 1360 and third arm member 1590 .
- the MAAA 1030 includes the nozzle 4180 of the nozzle assembly 4150 configured to provide for additional impact force at the area being cleaned.
- the cleaning and track system 4000 may also include the first arm member 1220 to provide for additional angles of rotation of the MAAA 1030 .
- Track/drive system 4140 includes a track/drive member 4800 .
- the track/drive member 4800 may be attached to apparatus 1000 and to a bi-directional hydraulic drive motor 4400 .
- the track/drive member 4800 may be configured to interface with and/or attach to a gear track 4600 such that track/drive member 4800 may be movable and/or driven along the length of the track 4600 .
- track/drive member 4800 may be attached to the third hinge connector 1370 of the apparatus 1000 .
- the track/drive member 4800 may be attached to the first hinge connector 1400 of the first arm member 1220 and/or directly to the third arm member 1590 .
- Hydraulic motor 4400 in the track/drive system 4140 may be configured to facilitate movement of, and/or drive, the track/drive member 4800 along the track 4600 .
- the motor 4400 may include other types of drive motors including, but not limited to, electric motors used to facilitate movement of the track/drive member 4800 along the track 4600 .
- the hydraulic motor 4400 may be attached to the track/drive member 4800 such that a gear 4700 of the motor 4400 may interface/interact with the track 4600 .
- the track 4600 may function as a gear track having teeth equally spaced along the track 4600 such that when the gear 4700 is placed on top of the track 4600 and rotated (via activation of hydraulic motor 4400 ), the linear nature of the track 4600 converts the rotary motion of the gear 4700 into linear motion—thereby driving the track/drive member 4800 and/or attached apparatus 1000 along track 4600 .
- the track 4600 is made of steel and welded to an I-beam. In alternative embodiments, the track 4600 may be made of other suitable materials to assist the track/drive member 4800 and/or the attached apparatus 1000 to move/drive along the track 4600 .
- the track 4600 may be configured/positioned in a horizontal, vertical, or other suitable manner to allow cleaning and track system 4000 to move in a multitude of directions within an enclosed area—including but not limited to horizontal, vertical, circular, and/or spiral directions so as to cover any and all enclosed areas.
- the track 4600 may be permanently mounted (natively or through retrofitting) on the container 4001 or other item to be cleaned through various suitable mechanisms including, but not limited to welding, bolts, screws, pins, adhesives, cements, or various other suitable mechanisms.
- FIG. 19 illustrates the track 4600 mounted on the container 4001 through welding.
- the track 4600 may be removably mounted on the container 4001 (e.g., may be removed before and after cleaning) through various suitable mechanisms including, but not limited to, magnets, clips, clasps, hooks, pins, screws, bolts, or various other suitable mechanisms.
- the track/drive member 4800 includes a base 4801 defining wheel slots 4803 .
- the track drive member 4800 includes wheels 4500 , such as at least two wheels 4500 , which may also be installed with track/drive member 4800 so as to interact with track 4600 opposite from the gear 4700 /track 4600 connection described herein. See FIG. 17 .
- the track 4600 is between the wheels 4500 and the gear 4700 during use.
- Wheels 4500 may be configured to facilitate movement of the track/drive system 4140 and attached apparatus 1000 within enclosed area.
- Each wheel 4500 includes a wheel shaft 4807 that extends through the wheel slots 4803 and connects to a spring block 4202 .
- the wheel slots 4803 are elongated such that the wheels 4500 are individually movable (arrow 4805 ) in relative to the track/drive member 4800 such that the track/drive member 4800 may travel along a curved track 4600 while maintaining contact with the track 4600 .
- the inner edges 4005 of wheels 4500 may be separated by a gap having a width slightly larger than the width of track 4600 .
- the track 4600 can be positioned within the gap formed between adjacent wheels 4500 and the wheels 4500 help to stabilize the track/drive member 4800 on the track 4600 during movement of cleaning and track system 4000 .
- the wheels 4500 provide stability and limit or reduce side-to-side movement of the track/drive member 4800 .
- gear 4700 and wheels 4500 may be attached to/interfaced with track 4600 in other suitable configurations to optimize movement of cleaning and track system 4000 within enclosed area.
- track/drive member 4800 may include a spring block 4202 attached to a first end of a spring 4200 and a spring tensioner 4300 attached to a second end of the spring 4200 . See FIG. 16 .
- track/drive member 4800 includes one spring block 4202 attached to two springs 4200 and two spring tensioners 4300 .
- Spring 4200 may be configured to provide additional stability to track/drive system 4140 and further provide additional spring action for vertical movement of cleaning and track system 4000 .
- the spring 4200 , spring block 4202 , spring tensioners 4300 , and wheel shafts 4807 movable within the wheel slots 4803 allow for the track/drive member 4800 maintain contact with the track 4600 as the track/drive member 4800 travels along the track 4600 .
- the wheel shafts 4807 may individually slide within the wheel slots 4803 relative to the base 4801 to accommodate changes in curvature of the track.
- the spring 4200 may compress and/or extend such that the wheels 4500 maintain contact on the track 4600 . For example, as illustrated in FIG.
- Spring block 4202 may be configured to provide support/stability to springs 4200 and/or cleaning and track system 4000 .
- Spring tensioners 4300 may be a suitable device or mechanism that applies a force to create or maintain tension within springs 4200 .
- cleaning apparatus 1000 and track/drive system 4140 may be attached to each other via other suitable attachment mechanisms and/or driven via other pneumatic and/or electrical methods such that track/drive system 4140 may facilitate additional movement of apparatus 1000 within enclosed area.
- a vacuum line 4009 may be placed on or near the floor of an area to be cleaned and may be configured to remove water and fluidized debris/materials from the area.
- One or more cleaning apparatuses 100 , 1000 and/or cleaning and track systems 400 , 4000 may be placed within an area to be cleaned.
- Embodiments of cleaning and track systems 400 , 4000 may further be used in conjunction with other cleaning systems, for example, the systems described in U.S. patent application Ser. Nos. 13/135,018 and 14/530,455, both of which are hereby incorporated by reference in their entireties.
- Cleaning and track system 400 , 4000 may be controlled manually or using preprogrammed algorithms through a PLC device.
- the cleaning and track system 400 , 4000 includes sensor and positioning components affixed to the MAAA 103 , 1030 and/or track/drive system 414 , 4140 and that are configured to send relevant positioning and other data to the PLC device.
- Sensor and positioning components may include the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 described herein.
- sensor and positioning components may include a laser based device, an ultrasonic based device, an optical based device, linear transducers, angle transducers, magnetic transducers, thermal light imaging devices, or other similar devices.
- the laser sensor may be a rangefinder sensor such as a SICK Optic Laser Scanner.
- Cleaning and track system 400 , 4000 may be programmed via operational steps of Instructing (or Teaching), Route Profiling, and Reproduction (or Playback). Methods using these particular operational steps are disclosed in U.S. Pat. No. 8,260,483, which is hereby incorporated by reference in its entirety. Specifically, U.S. Pat. No. 8,260,483 discloses methods including instructing/teaching a route and logging resulting route data from sensors to a memory; processing the logged data into a route profile (comprised of, in this case, a cleaning sequence); and reproducing/playing back the profiled route automatically using a control system.
- Instructing or teaching is an on line operation whereby an operator may manually or remotely control the apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 described herein through a PLC device.
- the PLC device may be a known PLC device that uses the IQAN electronic control system with a MD3 Module.
- PLC devices are standard in many industrial automation systems and used to synchronize overall system operation such that robot controller resources may be focused only on robot arm operation.
- the purpose of the instructing or teaching method is to allow an operator to define a cleaning route or sequence to be subsequently played back. The route may constitute an initial cleaning of an enclosed area including an arbitrary sequence of maneuvers positioning the apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 for optimal cleaning purposes.
- positioning data is derived from the sensor and positioning components attached to the MAAA 103 , 1030 and/or track/drive system 414 , 4140 .
- Systems and apparatuses utilizing MAAAs and sensor and positioning components to derive positioning data are disclosed in U.S. Pat. Nos. 8,942,940, 8,997,362, and 8,965,571, all of which are hereby incorporated by reference in their entireties.
- these patents disclose connected arm segments including at least one position transducer for producing a position signal, an electronic circuit for receiving the position signals from the transducer and for providing data corresponding to a position of a nozzle connected to the arm segments, and logic executable by the electronic circuit.
- the positioning data is then logged to a log file on a processor in a computer or similar device for processing at a later point; the purpose being to define a route, for subsequent reproduction, by operating the MAAA 103 , 1030 according to certain conditions.
- the computer may be located remotely at the control station or in another location near the area being cleaned.
- a log file may be a file on a mass storage device accessible by a computer processor attached and/or connected to the apparatus 100 , 1000 , containing time-stamped sensor readings that were recorded during the instructing/teaching run along the route.
- raw data is compiled and processed to create a particular route profile configured to profile a particular enclosed area.
- the route profile includes information representing a cleaning sequence configured to assist in cleaning the enclosed area.
- Reproduction is an online method whereby the PLC device is configured to automatically reproduce or playback the cleaning sequence using the saved Route Profile, and also constantly monitor the sensor and positioning components.
- the PLC device is configured to repeat the pre-programmed cleaning sequence by sending and receiving signals simultaneously.
- the PLC device 501 controls all movement of the track system and/or MAAA 503 by sending an electrical signal to an Electro-Hydraulic Flow Control (EHFC) device 502 .
- EHFC Electro-Hydraulic Flow Control
- the EHFC device may be a known EHFC device that uses a Continental Directional Control valve with 24 volt DC solenoids.
- SWH-GO-C4-D24-20 and VEDO3M-3AC-1 6-A-K1-24DC may be two different size controllers on the valve.
- EHFC device 502 is configured to receive the electric signal from the PLC device 501 , and thereby control nozzle valve operation of apparatus 100 .
- the EHFC device 502 may be configured to provide hydraulic, pneumatic and/or electrical output.
- the PLC device 501 may bypass control of the EHFC device 502 by providing direct electrical signals to the track system and/or MAAA 503 .
- PLC device 501 provides direct electrical signals to the sensor and positioning components 504 .
- Sensor and positioning components 504 may include the first external sensor 1500 , second external sensor 1502 , and/or first internal sensor 1504 described herein.
- Sensor and positioning components 504 may be located in multiple different areas on the track system and/or MAAA 503 as described herein and may provide a multitude of different functions.
- Manual overrides 510 may be accomplished at any time during operation and programming of the cleaning sequence. Overrides 510 may occur through control of the PLC device 501 or the EHFC device 502 . Overrides 510 may be accomplished by using control mechanisms located within a cabin/control station located remotely, which may then override automated controls of the PLC device. Overrides 510 may also be accomplished via manual valve control through a lever system within the EHFC device. Finally, these steps may be repeated until the desired optimal cleaning sequence is completed.
- the method includes a first step 601 of using an operator to implement a programmable starting logic sequence configured to allow the PLC device 501 as disclosed herein to begin sending and receiving signals.
- Operator may typically be a skilled person who works with the cleaning and track system 400 to ensure that the track system 400 functions properly, performs ongoing quality control, and provides an overall level of craftsmanship that may be lacking in a fully automated system. Alternatively, the sequence may be implemented without an operator.
- the PLC device 501 begins to receive a signal from the sensor and positioning components 504 , thereby allowing the PLC device 501 to send the correct signal to the EHFC device 502 .
- the EHFC device 502 receives the signal from the PLC device 501 , and then provides for resulting hydraulic, pneumatic and/or electrical flow to position the track system and/or MAAA 503 in an optimal cleaning position.
- track system and/or MAAA 503 produce the optimal cleaning motion for a pre-determined time period according to pre-programmed algorithms.
- This optimal cleaning motion includes smooth and consistent maneuvers of the track system and/or MAAA 503 , and further limits useless, random, and wasted movement of the system by targeting a specific area for cleaning within an enclosed area.
- the specific time to clean an enclosed area or other surface may vary depending on several factors, including but not limited to the size of the area or surface to be cleaned and the amount of material to be cleaned. Embodiments of the present disclosure may provide for at least a 33% reduction in overall cleaning time compared to existing systems.
- step 605 if an area has been sufficiently cleaned, the cleaning process is completed and the track system and/or MAAA 503 may be removed from the area. However, if the area requires further cleaning, steps 602 , 603 , 604 for cleaning using the programmed cleaning and track system 400 and cleaning sequence may be repeated until the area has been fully cleaned. If additional areas require cleaning, the cleaning and track system 400 may be moved to those areas, and steps 601 , 602 , 603 , 604 for cleaning may be repeated until the areas have been fully cleaned.
- a method of cleaning an area includes delivering/moving a cleaning apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 as described herein to the area to be cleaned.
- Cleaning apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 may be assembled within the area or may be assembled prior to being placed within the area.
- the method includes mounting the apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 within or near the area.
- the method includes connecting the apparatus 100 , 1000 to a high pressure fluid line, remotely operating the apparatus 100 , 1000 to control a direction of flow from the high pressure fluid line, directing the flow of fluids towards material on a surface of the area to remove the material from the surface, and removing the fluids and material via a vacuum line. Once cleaning is complete, the apparatus 100 , 1000 and/or cleaning and track system 400 , 4000 may be removed from the area.
- FIGS. 21-24 illustrate another embodiment of a cleaning apparatus 10 .
- the cleaning apparatus 10 includes a support structure 12 .
- the support structure 12 includes at least one drive motor 14 , which may be similar to the drive motors of the cleaning apparatus 100 and/or the cleaning apparatus 1000 .
- a cover 16 is optionally provided to enclose the drive motor 14 .
- the support structure 12 includes connector tabs 18 which may be used to connect the cleaning apparatus 10 to a movement system that allows for positioning of the cleaning apparatus 10 within the container (e.g., a lifting mechanism, the track system 4000 , or various other suitable mechanisms or systems).
- the cleaning apparatus 10 includes a rotatable base 20 that is rotatable relative to the support structure 12 (see arrow 22 ).
- the rotatable base 20 is rotatable about a base axis of rotation 24 .
- the rotatable base 20 has a first end 21 and a second end 23 opposite from the first end 21 .
- a camera 26 may be mounted on the rotatable base 20 (or on the container or various other suitable locations on the cleaning apparatus 10 ). In FIGS. 21-24 , the camera 26 is mounted on the rotatable base 20 between the first end 21 and the second end 23 . Similar to the camera described above, the camera 26 may monitor the cleaning apparatus 10 such that adjustments may be made as needed, such as during cleaning.
- the cleaning apparatus 10 also includes an extendable arm 28 which is positionable relative to the rotatable base 20 (see arrow 30 ).
- the extendable arm is positionable along the base axis of rotation 24 , although it need not be.
- the cleaning apparatus 10 includes a nozzle support 32 .
- the nozzle support 32 is at an end of the extendable arm 28 , although it needed not be. Through the extendable arm 28 , the nozzle support 32 is positionable relative to the rotatable base 20 , and through the rotatable base 20 , the nozzle support 32 is rotatable relative to the support structure 12 .
- the nozzle support 32 is configured to support at least one third arm member 1590 and/or at least one second arm member 1360 (and/or at least one first arm member 1220 ). In the example illustrated in FIGS. 21-24 , the nozzle support 32 supports two third arm members 1590 and two second arm members 1360 .
- the second arm members 1360 are rotatable about second axes of rotation 34 A-B (see arrows 36 A-B) and the third arm members are rotatable about third axes of rotation 38 A-B (see arrows 40 A-B).
- the cleaning apparatus 10 can selectively control where nozzles distribute water, such as within a container 42 (see FIG. 24 ).
- a cleaning apparatus comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus.
- the arm includes: a first arm member; a second arm member attached to the first arm member, and a third arm member having a first end and a second end, the third arm member attached to the second arm member at the first end and to the nozzle assembly at the second end, wherein the first arm member is configured to rotate around a first axis, wherein the second arm member and third arm member are configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis.
- EC 9 The apparatus of any of the preceding or subsequent example combinations, wherein the nozzle assembly includes a nozzle held in place by a nozzle grip attached to a shaft, wherein the nozzle assembly is configured for 360 degree rotation via connection of the shaft to the rotatable third arm member.
- the first actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the first actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end.
- EC 11 The apparatus of any of the preceding or subsequent example combinations, wherein the second actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the second actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end.
- the third actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the third actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end.
- EC 13 The apparatus of any of the preceding or subsequent example combinations, wherein the apparatus includes a first external sensor attached to the first arm member, a second external sensor attached to the second arm member, and a first internal sensor attached to the third arm member.
- EC 14 The apparatus of any of the preceding or subsequent example combinations, wherein the apparatus includes a first internal sensor installed within the housing such that the first internal sensor interfaces with the fixed end of the third actuator assembly.
- EC 15 The apparatus of any of the preceding or subsequent example combinations, wherein the first end of the shaft is inserted through the fixed end and into a rotating keyhole of the first internal sensor, wherein the keyhole is configured to rotate during rotation of the shaft such that the first internal sensor obtains the positioning and location of the apparatus.
- EC 16 The apparatus of any of the preceding or subsequent example combinations, further comprising control lines connected to a control station, the control lines configured to control movement of the at least two rotatable arm members.
- a system for cleaning an area comprising: a cleaning apparatus, comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; at least one camera mounted within the area; and a vacuum line mounted within the area, wherein the apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid, wherein an operator views the apparatus and area via the at least one camera.
- control lines configured to control movement of the at least two rotatable arm members, wherein the control lines are connected to a control station and are configured to allow the operator to remotely operate the apparatus.
- EC 19 The system of any of the preceding or subsequent example combinations, further comprising a track system including a track member movably attached to a gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bidirectional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
- a track system including a track member movably attached to a gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bidirectional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
- a cleaning and track system comprising: a cleaning apparatus, comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; a track system movably attached to the apparatus, comprising: a gear rack; and a track member movably attached to the gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack; at least one camera mounted near the cleaning and track system; and a vacuum line mounted near the cleaning and track system, wherein the apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid, wherein an
- EC 21 The system of any of the preceding or subsequent example combinations, further comprising control lines configured to control movement of the at least two rotatable arm members, wherein the control lines are connected to a control station and are configured to allow the operator to remotely operate the apparatus and track system.
- the track member includes a spring block attached to a first end of a spring and a spring tensioner attached to a second end of the spring, wherein the spring compresses or extends to facilitate movement of the apparatus along the rack.
- a method of cleaning an area comprising: mounting a cleaning apparatus within the area, the cleaning apparatus comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; connecting the cleaning apparatus to a high pressure fluid line; remotely operating the cleaning apparatus to control a direction of flow from the high pressure fluid line; directing a flow of fluids towards material on a surface of the area to remove the material from the surface; and removing the fluids and material via a vacuum line.
- EC 25 The method of any of the preceding or subsequent example combinations, further comprising attaching the apparatus to a track system including a track member movably attached to a gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
- EC 26 The method of any of the preceding or subsequent example combinations, wherein the apparatus is programmed by the steps of: instructing a route to the apparatus by the steps of: controlling the apparatus and defining the route via implementation of a starting cleaning sequence, wherein the route includes an initial cleaning of the area including a sequence of maneuvers positioning the apparatus for optimal cleaning purposes; and logging resulting route data from the at least one sensor to a memory; processing logged route data into a route profile, wherein the route profile includes a defined optimal cleaning sequence; and reproducing the route profile automatically using a Programmable Logic Control (PLC) device.
- PLC Programmable Logic Control
- the apparatus is operated by the steps of implementing the starting cleaning sequence using the PLC device, wherein the PLC device is configured to receive an electrical signal from the at least one sensor once the starting cleaning sequence is implemented; sending the signal to an Electro-Hydraulic Flow Control (EHFC) device via the PLC device, wherein the EHFC device is configured to provide at least one of hydraulic, pneumatic, and electrical flow; positioning the apparatus in an optimal cleaning position based on the signal and flow via the EHFC device; and performing a cleaning motion for a pre-determined amount of time according to the defined optimal cleaning sequence, wherein the PLC device is configured to repeat the defined optimal cleaning sequence by simultaneously sending and receiving signals.
- EHFC Electro-Hydraulic Flow Control
- a cleaning apparatus comprising: a nozzle assembly; and an arm supporting the nozzle assembly, wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- the first rotatable arm member comprises a fixed end and a rotating end, wherein the fixed end is in a fixed position relative to the first axis, and wherein the rotating end is rotatable about the first axis and relative to the fixed end.
- the arm further comprises a third rotatable arm member defining a third axis, wherein the third rotatable arm is rotatable about the third axis, and wherein the third axis is perpendicular to the second axis.
- the second arm member comprises a third hinge connector, a fourth hinge connector, and a second actuator assembly
- the third hinge connector is fixedly attached to the second hinge connector
- the fourth hinge connector is rotatably attached to the second actuator assembly such that the fourth hinge connector rotates about the second axis relative to the third hinge connector
- EC 37 The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the at least one sensor comprises a first external sensor attached to the first arm member and a second external sensor attached to the second arm member.
- a cleaning system comprising: a cleaning apparatus; and a drive system comprising: a track; and a carriage movable along the track and comprising a spring block, a track member, and at least one spring connecting the spring block and the track member, wherein the at least one spring member is movable between an expanded position and a compressed position such that the spring block is adjustable relative to the track member, and wherein the cleaning apparatus is attached to the carriage.
- the cleaning apparatus comprises an arm and a nozzle assembly attached to the arm, and wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- EC 40 The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a top side and a bottom side opposite the top side, wherein the top side comprises a plurality of teeth, and wherein the track defines a track width in a direction transverse to a direction from the top side to the bottom side.
- the track member further comprises at least one wheel movable along bottom side of the track, wherein the at least one wheel comprises a first edge and a second edge, wherein a distance between the first edge and the second edge is greater than the track width, and wherein the at least one wheel is movable along the track such that the track is between the first edge and the second edge and the first edge and the second edge at least partially overlap the track.
- EC 42 The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a first track portion, a second track portion, and a curved track portion connecting the first track portion to the second track portion, wherein the first track portion extends in a first direction, and wherein the second track portion extends in a second direction different from the first direction.
- a cleaning system comprising: a cleaning apparatus comprising a nozzle assembly and an arm supporting the nozzle assembly, wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm; and a drive system comprising a track and a carriage movable along the track, wherein the cleaning apparatus is attached to the carriage.
- EC 44 The cleaning system of any of the preceding or subsequent example combinations, wherein the carriage comprises a spring block, a track member, and at least one spring connecting the spring block and the track member, and wherein the at least one spring member is movable between an expanded position and a compressed position such that the spring block is adjustable relative to the track member.
- EC 45 The cleaning system of any of the preceding or subsequent example combinations, wherein the first rotatable arm member comprises a fixed end and a rotating end, wherein the fixed end is in a fixed position relative to the first axis, and wherein the rotating end is rotatable about the first axis and relative to the fixed end
- the arm further comprises a third rotatable arm member defining a third axis, wherein the third rotatable arm is rotatable about the third axis, and wherein the third axis is perpendicular to the second axis.
- EC 47 The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a top side and a bottom side opposite the top side, wherein the top side comprises a plurality of teeth, and wherein the track defines a track width in a direction transverse to a direction from the top side to the bottom side.
- the carriage comprises a spring block, a track member, and at least one spring connecting the spring block and the track member
- the track member further comprises at least one wheel movable along bottom side of the track, wherein the at least one wheel comprises a first edge and a second edge, wherein a distance between the first edge and the second edge is greater than the track width, and wherein the at least one wheel is movable along the track such that the track is between the first edge and the second edge and the first edge and the second edge at least partially overlap the track.
- the track member further comprises at least one gear wheel movable along the top side of the track, and wherein the at least one gear wheel comprises a plurality of teeth configured to engage the plurality of teeth on the top side of the track.
Abstract
Description
- This application is a continuation of U.S. patent application Ser. No. 15/786,320, filed Oct. 17, 2017 and entitled APPARATUSES, SYSTEMS, AND METHODS FOR CLEANING, which claims the benefit of U.S. Provisional Application No. 62/409,206, filed Oct. 17, 2016 and entitled APPARATUSES, SYSTEMS, AND METHODS FOR CLEANING, the content of each which are hereby incorporated by reference in their entireties.
- The present disclosure relates to apparatuses, systems, and methods for the cleaning of surfaces, and in particular though non-limiting embodiments, to apparatuses, systems, and methods for cleaning containers, tanks, or vessels by fluidizing and removing materials within their interiors using a programmable and articulating arm.
- Conventional tank cleaning is often a long, stringent, hazardous, and labor-intensive task. Conventional methods of tank and vessel cleaning require operator exposure to dangerous environments. The work of an operator typically involves manually placing a remotely operated vehicle (ROY) into position in an enclosed and/or confined area, locking the ROY into place, controlling the ROY to perform a specified task, and removing the ROY from the enclosed area. ROYs have traditionally been used for a variety of reasons, including reduced costs, increased time-effectiveness, increased strength capabilities over human workers, and improved safety by reducing man hours spent in confined spaces.
- Existing remote tank cleaning systems include a nozzle configured to direct a fluid stream to dislodge, dilute, or dissolve settled solids from tank interiors. These systems generally require extensive mounting or setup within these tanks or containers prior to cleaning, during which workers may be subject to prolonged exposures to the contents being cleaned. Mounted systems may only be able to mount in a limited number of locations within the tanks or containers, limiting the utility of the system. Some systems include extensive robotic components that are bulky, heavy, and difficult to assemble and/or disassemble. Often, the systems cannot be utilized in remote or difficult to reach interiors of tanks, containers, and/or vessels because of the difficulty involved in bringing the system to the site. The systems usually require one or more booms or cranes to place the system near or into a target enclosed area. Additionally, cleaning systems typically involve attachment to or placement upon a floor of a target enclosed area, meaning that the system is placed upon and/or covering a portion of the very sludge/materials the system is intended to clean. Floor mounted systems must also account for other issues in the floor, such as baffles, irregular surfaces, and debris.
- On the other hand, cleaning systems that are less bulky or require less assembly are typically insufficiently stable to withstand high water pressures necessary to fluidize settled solids and/or sludge to where they can be easily pumped out. In such cases, the solids and/or sludge must be physically and/or mechanically removed by workers from the interior of enclosed areas, placing the workers in a dangerous and/or toxic environment and therefore at greater risk of exposure to health hazards and injuries.
- Additionally, existing tank cleaning systems use fluid directing systems that result in random, wasted movement. For example, some cleaning systems utilize gamma jets that perform cleaning via a 360° spherical spray pattern/movement. However, in these systems, it is not possible to control the cycle of a gamma jet once activated, thereby making it difficult to focus on specific areas in need of cleaning.
- Accordingly, a need exists for an improved apparatus, system, and method to remotely remove materials, including settled solids, fluids, slurries, and/or sludge, from a vessel, container, and/or tank interior in a manner that is more efficient and safer than existing systems.
- The terms “invention,” “the invention,” “this invention” and “the present invention” used in this patent are intended to refer broadly to all of the subject matter of this patent and the patent claims below. Statements containing these terms should be understood not to limit the subject matter described herein or to limit the meaning or scope of the patent claims below. Embodiments of the invention covered by this patent are defined by the claims below, not this summary. This summary is a high-level overview of various embodiments of the invention and introduces some of the concepts that are further described in the Detailed Description section below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used in isolation to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of this patent, any or all drawings, and each claim.
- Embodiments of the present disclosure provide for improved methods, systems, and apparatuses for cleaning by implementation of a programmable, multi-axis articulating arm (MAAA) having a plurality of connected arm segments. Embodiments of the present disclosure provide for purpose driven, focused movement, rather than random, wasted movement. The MAAA may be connected to a track system. Each arm segment may have sensor and positioning components configured to provide a signal to a Programmable Logic Control (PLC) device to ensure correct positioning of the MAAA and track system according to pre-programmed algorithms. The algorithms may provide an efficient manner of cleaning an enclosed area without requiring constant repetitious movements from an operator.
- Embodiments of the present disclosure are configured to work integrally with an operator and amplify the impact of an operator by taking over the most repetitious of tasks. The interoperability of the system with the operator provides a safer and higher quality end product. The operator may be incorporated in the process by overseeing and ensuring the quality of work by the automated process. The programmable MAAA is designed to apply state of the art cleaning techniques with better-than-human accuracy. For example, a typical crew of seven workers may be replaced by a crew of two, resulting in cost reductions and making programmed cleaning an economically viable alternative on a greater number of enclosed areas, potentially leading to an increase in skilled employment in the trade.
- The present disclosure also addresses major safety concerns by reducing and/or eliminating man-hours spent in confined spaces. Embodiments of the present disclosure provide for a safe, efficient, and cost-saving alternative to placing workers in confined spaces and allow for completion of a safe and successful cleaning job while reducing project turnaround time.
- In an example embodiment of the present disclosure, a cleaning apparatus is provided. The cleaning apparatus includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm. The arm may include at least two rotatable joints allowing for manipulation of the nozzle. The base may be configured to magnetically attach to a metal surface. The at least one magnet may be an electromagnet. The apparatus may further include at least one additional magnet configured to attach to the metal surface. The base may include base extensions extending from the at least one magnet at a first end and attaching to a plate at a second end. The apparatus may further include a support beam having a first end attached to the metal surface and a second end attached to the plate. The arm may include a first arm member attached to the plate; and a second arm member attached to the first arm member. The first arm member may be configured to rotate relative to the plate around a first axis. The second arm member may be configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis. The apparatus may include a pressure line mount configured to facilitate flow of high pressure fluids for cleaning. The pressure line mount may be connected to the second arm member via attachment to the nozzle at a first end and a pressure line at a second end. The nozzle may include dual spay ends. The nozzle may rotate such that each dual spray end spins and provides dual rotating jets of water for breaking-up materials.
- The apparatus may include control lines connected to a control station, the control lines configured to control movement of the at least two rotatable joints. The control lines may be at least one of electrical, pneumatic, and hydraulic. The apparatus may be configured to be disassembled into at least two separate components. The at least two separate components may include handles. The arm may include additional arm members such that the arm has more than two axes of articulated movement. The first arm member may include first and second hinge connectors and the second arm member may include third and fourth hinge connectors. The first hinge connector may be fixedly attached to the plate and the second hinge connector may be rotatably attached to the first hinge connector such that the second hinge connector rotates relative to the plate around the first axis. The third hinge connector may be fixedly attached to the second hinge connector and the fourth hinge connector may be rotatably attached to the third hinge connector such that the fourth hinge connector rotates relative to first arm member around the second axis.
- In an example embodiment of the present disclosure, a system for cleaning an area is provided. The system includes a cleaning apparatus; at least one camera mounted within the area; and a vacuum line. The cleaning apparatus includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm. The arm may include at least two rotatable joints allowing for manipulation of the nozzle. The apparatus may be configured to spray a fluid via the nozzle and the vacuum line removes the fluid and any materials contained in the fluid. An operator may view the apparatus and area via the at least one camera. The system may include control lines configured to control movement of the at least two rotatable joints. The control lines may be connected to a control station and configured to allow the operator to remotely operate the apparatus. The system may include first and second longitudinal bars movably attached to each other. The apparatus may be movably attached to the first bar. The second bar may be movably attached to a mounting structure. The first and second bars and the apparatus may be movable in multiple directions and axes. The first and second bars may be perpendicularly attached to each other. The apparatus may be magnetically attached to the first bar via the at least one magnet. The second bar may be perpendicularly attached to the mounting structure.
- In an example embodiment of the present disclosure, a cleaning and track system is provided. The system includes a cleaning apparatus, a track system, at least one camera mounted within the area; and a vacuum line. The apparatus includes a base; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm. The arm may include at least two rotatable joints allowing for manipulation of the nozzle. The track system may include first and second longitudinal bars movably attached to each other. The second bar may be movably attached to a mounting structure. The first and second bars may be movable in multiple directions and axes. The apparatus may be movably attached to the track system. The apparatus may be configured to spray a fluid via the nozzle and the vacuum line removes the fluid and any materials contained in the fluid. An operator may view the apparatus and area via the at least one camera. The system may include control lines configured to control movement of the at least two rotatable joints. The control lines may be connected to a control station and configured to allow the operator to remotely operate the apparatus and track system.
- In an example embodiment of the present disclosure, a method of cleaning an area is provided. The method includes magnetically mounting a cleaning apparatus within the area; connecting the cleaning apparatus to a high pressure fluid line; remotely operating the cleaning apparatus to control a direction of flow from the high pressure fluid line; directing a flow of fluids towards material on a surface of the area to remove the material from the surface; and removing the fluids and material via a vacuum line. The cleaning apparatus includes a base having at least one magnet; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm. The arm may include at least two rotatable joints allowing for manipulation of the nozzle. The apparatus may be remotely operated via control lines connected from a control station to the apparatus, the control lines configured to control movement of the at least two rotatable joints. The method may include magnetically attaching the at least one magnet to a track system. The track system may include first and second longitudinal bars movably attached to each other. The apparatus may be movably attached to the first bar. The second bar may be movably attached to a mounting structure. The first and second bars and the apparatus may be movable in multiple directions and axes.
- The apparatus may be programmed by the steps of instructing a route to the apparatus by the steps of controlling the apparatus and defining the route via implementation of a starting cleaning sequence, and logging resulting route data from sensor and positioning components to a memory. The sensor and positioning components may be located on at least one of the apparatus and track system. The route may include an initial cleaning of the area including a sequence of maneuvers positioning the apparatus for optimal cleaning purposes. The apparatus may further be programmed by the steps of processing logged route data into a route profile, and reproducing the route profile automatically using a Programmable Logic Control (PLC) device. The route profile may include a defined optimal cleaning sequence. The apparatus may be operated by the steps of implementing the stating cleaning sequence using the PLC device; sending the signal to an Electro-Hydraulic Flow Control (EHFC) device via the PLC device; positioning the apparatus and arm in an optimal cleaning position based on the signal and flow via the EHFC device; and performing a cleaning motion for a predetermined amount of time according to the defined optimal cleaning sequence. The PLC device may be configured to receive an electrical signal from the sensor and positioning components once the starting cleaning sequence is implemented. The EHFC device may be configured to provide at least one of hydraulic, pneumatic, and electrical flow. The PLC device may be configured to repeat the defined optimal cleaning sequence by simultaneously sending and receiving signals. The method may include observing movements of the cleaning apparatus and track system via at least one camera mounted within the area or on the apparatus. The steps for operating the apparatus may be repeated until the area is cleaned. The method may include turning off the at least one magnet to dismount the cleaning apparatus. The at least one magnet may be electro-magnetic.
- In an example embodiment of the present disclosure, a cleaning apparatus is provided. The apparatus includes a base; an arm having a first end attached to the base and extending away from the base; and a nozzle attached to a second end of the arm. The arm may include at least two rotatable joints allowing for manipulation of the nozzle. The apparatus may include base extensions extending from the base at a first end and attaching to a plate at a second end. The arm may include a first arm member attached to the plate; and a second arm member attached to the first arm member. The first arm member may be configured to rotate relative to the plate around a first axis. The second arm member may be configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis. The apparatus may include a pressure line mount configured to facilitate flow of high pressure fluids for cleaning. The pressure line mount may be connected to the second arm member via attachment to the nozzle at a first end and a pressure line at a second end. The apparatus may include control lines connected to a control station, the control lines configured to control movement of the at least two rotatable joints.
- In an example embodiment of the present disclosure, a cleaning apparatus is provided. The apparatus includes an arm and a nozzle assembly attached to an end of the arm. The arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus.
- In an example embodiment of the present disclosure, a cleaning and track system is provided. The system includes a cleaning apparatus and a track system movably attached to the apparatus. The apparatus includes an arm and a nozzle assembly attached to an end of the arm. The arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus. The track system includes a gear rack and a track member movably attached to the gear rack. A first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor. The motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack. At least one camera is mounted near the cleaning and track system. A vacuum line is mounted near the cleaning and track system. The apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid. An operator views the apparatus via the at least one camera.
- According to certain embodiments, a cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis, and the first rotatable arm is rotatable about the first axis. In various embodiments, the arm includes a second rotatable arm member defining a second axis and connected to the first rotatable member, and the second rotatable arm is rotatable about the second axis. In certain aspects, the cleaning apparatus includes at least one sensor on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- According to various embodiments, a cleaning system includes a cleaning apparatus and a drive system. In certain aspects, the drive system includes a track and a carriage movable along the track. In some embodiments, the carriage includes a spring block, a track member, and at least one spring connecting the spring block and the track member. The at least one spring member is movable between an expanded position and a compressed position such that the r spring block is adjustable relative to the track member. In certain examples, the cleaning apparatus is attached to the carriage.
- According to certain embodiments, a cleaning system includes a cleaning apparatus with a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. The first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis. In various embodiments, at least one sensor is on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm. In certain embodiments, the cleaning system also includes a drive system having a track and a carriage movable along the track, where the cleaning apparatus is attached to the carriage.
- Various implementations described in the present disclosure can include additional systems, methods, features, and advantages, which cannot necessarily be expressly disclosed herein but will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that all such systems, methods, features, and advantages be included within the present disclosure and protected by the accompanying claims.
- The features and components of the following figures are illustrated to emphasize the general principles of the present disclosure. Corresponding features and components throughout the figures can be designated by matching reference characters for the sake of consistency and clarity.
-
FIG. 1 is an isometric view of a cleaning apparatus according to aspects of the present disclosure. -
FIG. 2 is an isometric view of the cleaning apparatus ofFIG. 1 . -
FIG. 3 is a top view of the cleaning apparatus ofFIG. 1 . -
FIG. 4 is an isometric view of a cleaning and track system according to aspects of the present disclosure. -
FIG. 4A is an enlarged partial cutaway view of an attachment within the cleaning and track system ofFIG. 4 . -
FIG. 4B is an enlarged partial cutaway view of another attachment within the cleaning and track system ofFIG. 4 . -
FIG. 5 is a flow chart depicting a method of programming a cleaning and track system according to aspects of the present disclosure. -
FIG. 6 is a flow chart depicting a method of cleaning using a programmable cleaning and track system, according to aspects of the present disclosure. -
FIG. 7 is an isometric view of a cleaning apparatus according to aspects of the present disclosure. -
FIG. 8 is another isometric view of the cleaning apparatus ofFIG. 7 . -
FIG. 9 is another isometric view of the cleaning apparatus ofFIG. 7 . -
FIG. 10 is another isometric view of the cleaning apparatus ofFIG. 7 . -
FIG. 11 is another isometric view of the cleaning apparatus ofFIG. 7 . -
FIG. 12 is a front view of a fixed end of an actuator assembly according to aspects of the present disclosure. -
FIG. 13 is a front view of a rotating end of an actuator assembly according to aspects of the present disclosure. -
FIG. 14 is an isometric view of a position sensor. -
FIG. 15 is a partial perspective view of a nozzle according to aspects of the present disclosure. -
FIG. 16 is an isometric view of a cleaning and track system according to aspects of the present disclosure. -
FIG. 17 is another isometric view of the cleaning and track system ofFIG. 16 . -
FIG. 18 is another isometric view of the cleaning and track system ofFIG. 16 . -
FIG. 19 is a partial perspective view of the cleaning and track system ofFIG. 16 within a container. -
FIG. 20 is another partial perspective view of the cleaning and track system ofFIG. 16 within the container ofFIG. 19 . -
FIG. 21 is a perspective view of a cleaning system according to aspects of the present disclosure. -
FIG. 22 is another perspective view of the cleaning system ofFIG. 21 with a cover. -
FIG. 23 is an enlarged perspective view of a cleaning apparatus of the cleaning system ofFIG. 21 . -
FIG. 24 is a partial perspective view of the cleaning system ofFIG. 21 within a container. - The subject matter of embodiments of the present invention is described here with specificity to meet statutory requirements, but this description is not necessarily intended to limit the scope of the claims. The claimed subject matter may be embodied in other ways, may include different elements or steps, and may be used in conjunction with other existing or future technologies. This description should not be interpreted as implying any particular order or arrangement among or between various steps or elements except when the order of individual steps or arrangement of elements is explicitly described. Directional references such as “up,” “down,” “top,” “left,” “right,” “front,” and “back,” among others are intended to refer to the orientation as illustrated and described in the figure (or figures) to which the components and directions are referencing.
- Embodiments of the present disclosure include a cleaning apparatus having a programmable MAAA. Embodiments of the MAAA may be portable, meaning that the MAAA may be capable of easily being disassembled into separate components and transported. The apparatus may be mounted on a wall in an interior of an enclosed area to be cleaned. The enclosed area may be defined by interiors and/or exteriors of containers, vessels, tanks, or other structures that require cleaning. The apparatus may also be mounted on a manhole or similar opening in other embodiments. The apparatus may include at least one magnet configured to magnetically mount the apparatus, although it need not. Magnetic mounting allows for the apparatus to be mounted at virtually unlimited locations with the enclosed area, allowing for more focused and efficient cleaning and simple removal. The apparatus may also be bolted in place. The apparatus may include a high pressure fluid line and high pressure nozzles. The apparatus may be configured for remote operation by an operator outside of the enclosed area being cleaned.
- Embodiments of the present disclosure also include a cleaning and track system. In some embodiments, the cleaning and track system includes a cleaning apparatus as described herein mounted to a track system and/or mounting structure placed within an enclosed area, and the MAAA of the apparatus may be movable through additional axes within the enclosed area. The cleaning and track system may be controlled manually or from pre-programmed algorithms through a PLC device. Sensor and positioning components on the MAAA and/or track system may provide a signal to the PLC device to ensure correct positioning of the MAAA and/or track system according to the pre-programmed algorithms.
- The cleaning apparatus and/or cleaning and track system may be configured such that they are attachable at a location near an area targeted for cleaning within the enclosed area. Embodiments of the present disclosure are durable and allow for precise control of water flows, which may be directed at specific problem or target areas rather than merely cycling to clean the entire enclosed area. Performing targeted cleaning allows for increased efficiency and decreased waste.
- Referring now to
FIGS. 1-3 , different views of acleaning apparatus 100 are illustrated. Theapparatus 100 includes anMAAA 103. TheMAAA 103 includes a plurality of connected arm segments having afirst arm member 122 andsecond arm member 136. In other embodiments, the MAAA may have more or less arm members.First arm member 122 extends fromplate 124.Second arm member 136 is attached tofirst arm member 122 distal to aplate 124. - First and
second arm members arm members first arm member 122 includes first andsecond hinge connectors first hinge connector 140 is fixedly attached toplate 124. Thesecond hinge connector 139 is rotatably attached tofirst hinge connector 140 such thatsecond hinge connector 139 rotates relative toplate 124 and tofirst hinge connector 140 about a first axis of rotation. As shown inFIG. 2 , in some embodiments, thesecond hinge connector 139 rotates about the X-axis. - The
second arm member 136 includes third andfourth hinge connectors third hinge connector 137 is fixedly attached tosecond hinge connector 139 such thatsecond arm member 136 rotates about the same axis of rotation as thesecond hinge connector 139. Thefourth hinge connector 135 is rotatably attached tothird hinge connector 137 such thatfourth hinge connector 135 rotates relative to thethird hinge connector 137 andfirst arm member 122 about a second axis of rotation that is substantially perpendicular to the first axis of rotation of thesecond hinge connector 139. As shown inFIG. 2 , in some embodiments, thefourth hinge connector 135 rotates about the Y-axis. - The combination of the rotation of
first arm member 122 andsecond arm member 136 allows for theMAAA 103 to be moved up and down and side to side, covering the entire surface of the interior of the enclosed area. In some embodiments, thefirst arm member 122 and thesecond arm member 136 may include swivel connectors and/or other connections/joints to facilitate cleaning byapparatus 100. In other embodiments, the number and location of the hinge connectors and/or swivel connectors may be varied to achieve movement ofapparatus 100 along additional axes as desired. - As illustrated in
FIG. 2 , in some examples, anelbow member 120 is attached tosecond arm member 136. In some non-limiting examples, theelbow member 120 is attached to thefourth hinge connector 135, although it need not be. In certain embodiments, theelbow member 120 extends away fromsecond arm member 136 and attaches to apressure line mount 116. - A
nozzle 110 is attached to a first end of thepressure line mount 116. Apressure line 118 is attached to a second end ofpressure line mount 116. As shown inFIGS. 1-3 , in some embodiments, thenozzle 110 includes dual spray ends 112. In some examples, thenozzle 110 may be a variable speed nozzle that rotates, thereby spinning eachdual spray end 112 and providing dual rotating jets of fluids (such as water or other suitable fluids) for breaking-up and fluidizing materials. Alternatively, thenozzle 110 may include a single spray end and/or other suitable configuration designed to provide fluid at high pressures to fluidize material. Water flow through thenozzle 110 may be provided at high pressures and high flow rates. In exemplary embodiments, the water flow is approximately 100 GPM (gallons per minute) at approximately 900 PSI (pounds per square inch). In certain embodiments, theapparatus 100 may be controlled to accommodate different (e.g., increased or reduced) flow rates and pressures. In certain examples, the apparatus may be controlled through various mechanisms including, but not limited to, by increasing magnetic strength, changing the number and/or configuration of magnets, changing the configuration of components ofapparatus 100, and/or providing additional supports for mountingapparatus 100 against theinterior wall 132 and/or floor of the enclosed area, or various other suitable mechanisms. - In some embodiments, and as illustrated in
FIG. 1 , theapparatus 100 includes a base 125 with a pair ofmagnets 128 configured to mountapparatus 100 towall 132, such as within an enclosed area. Depending on the type of container or item to be cleaned, thewall 132 may be made of metal or has metallic properties such thatmagnets 128 may easily attach towall 132. Themagnets 128 may be sufficiently strong to withstand the forces of theapparatus 100 during manipulation and cleaning while maintaining its location within the enclosed area. In exemplary embodiments, themagnets 128 are electromagnets supplied with controllable electric current such that the magnetic field is “turned off” for removal ofapparatus 100. In other embodiments and again depending on the type of container or item to be cleaned, thewall 132 may not be made of metal or have metallic properties such that a metallic material may have to be placed on an outside surface of thewall 132 to allow for themagnets 128 to mount theapparatus 100 to thewall 132 via attraction ofmagnets 128 to metallic material. Although disclosed as attaching to thewall 132 via themagnets 128, theapparatus 100 may utilize other permanent and/or non-permanent mechanisms to attach to thewall 132 including, but not limited to, pins, nuts, bolts, chains, screws, clips, clasps, hooks, and various other suitable mechanisms for mounting theapparatus 100 on thewall 132 either permanently or non-permanently. - The base 125 may include
base extensions 126. As illustrated inFIG. 1 , in some examples, a first end of eachbase extension 126 is connected to at least onemagnet 128, and a second end of eachbase extension 126 is connected to aplate 124. As illustrated inFIG. 2 , asupport beam 130 may be provided to further support theapparatus 100. In some embodiments, thesupport beam 130 includes a first end attached to theplate 124 and/or thebase extensions 126 and asecond end 131 attachable to thewall 132 through various permanent or non-permanent mechanisms as discussed above. Thesupport beam 130 may have a curved shape, flat shape, or other shape to supportapparatus 100. - In some examples, as illustrated in
FIG. 1 , theapparatus 100 may includehandles 114 to allow a worker to carry components ofMAAA 103 to a desired location. The location and/or number ofhandles 114 should not be considered limiting on the current disclosure, as any number ofhandles 114 may be provided at various locations on theapparatus 100 as desired. In one non-limiting example, theapparatus 100 may separate into two or more components for transport, and each component may include at least onehandle 114, although they need not. For example, in one non-limiting embodiment, onehandle 114 may be on thebase 125 and another handle may be on theMAAA 103 as illustrated inFIG. 1 . In a specific embodiment, theapparatus 100 may separate into five separate components, allowing for easy transport and access to difficult to reach locations. Theapparatus 100 may be assembled within an enclosed area, or outside the enclosed area and placed into the area fully assembled. - The first and
second arm members lines FIG. 1 . The control lines 134, 138 are configured to control movement (e.g., rotation) of the first andsecond arm members - In certain embodiments, the
apparatus 100 may be remotely controlled by an operator at a control station external to the enclosed area. The control station may be operatively connected to theapparatus 100 and transmits signals toapparatus 100 viacontrol lines apparatus 100 being mounted to the enclosed area, or may be attached toapparatus 100 prior to mounting. A display device may also be provided at the control station so that the operator may monitor theapparatus 100 inside the enclosed area via the camera and make any necessary adjustments toapparatus 100. - In some non-limiting embodiments, as illustrated in
FIG. 3 , theapparatus 100 may be attached to anexternal plate 200 and placed into an enclosed area at amanway access point 141. In this embodiment, theapparatus 100 is attached to theexternal plate 200 and then lowered into the enclosed area to be cleaned. In various embodiments, theexternal plate 200 is sized such that the thatexternal plate 200 remains external and only theapparatus 100 reaches into the enclosed area. In one non-limiting example, a width of theexternal plate 200 may be greater than a width of themanway access point 141. Theexternal plate 200 may include one or more holes for line access such as a vacuum line and/or pressurized fluid line. Optionally, theexternal plate 200 may include handles for maneuvering. - Referring now to
FIGS. 7-11 , different views of embodiments of acleaning apparatus 1000 are shown.FIGS. 12 and 13 are front views of afixed end 1608 androtating end 1610 of an actuator assembly.FIG. 14 is an isometric view of a position sensor.FIG. 15 is a partial isometric view of anozzle 4180.Cleaning apparatus 1000 may include features of cleaningapparatus 100 described herein. - In certain embodiments, the
apparatus 1000 includes anMAAA 1030. In some examples, theMAAA 1030 is similar to theMAAA 103 and includes a plurality of connected arm segments. In some examples, theMAAA 1030 includes afirst arm member 1220,second arm member 1360, andthird arm member 1590. In other embodiments, theMAAA 1030 may have additional or fewer arm members as desired. In various embodiments, thefirst arm member 1220 is secured to and extends from aplate 1240. Thesecond arm member 1360 is attached tofirst arm member 1220. Thethird arm member 1590 is attached tosecond arm member 1360. - In various embodiments, the first and
second arm members second arm members FIG. 7 , thefirst arm member 1220 includes first andsecond hinge connectors first actuator assembly 1600. In some examples, thefirst hinge connector 1400 is fixedly attached toplate 1240 and thesecond hinge connector 1390 is rotatably attached tofirst actuator assembly 1600 such thatsecond hinge connector 1390 rotates relative toplate 1240 and tofirst hinge connector 1400 about a first axis of rotation. As shown inFIG. 7 ,second hinge connector 1390 rotates about the Y-axis. - The
second arm member 1360 includes third andfourth hinge connectors second actuator assembly 1602 as illustrated inFIG. 8 . In some embodiments, thethird hinge connector 1370 is fixedly attached tosecond hinge connector 1390 such thatsecond arm member 1360 rotates about the same axis of rotation as thesecond hinge connector 1390. In various embodiments, thefourth hinge connector 1350 is rotatably attached tosecond actuator assembly 1602 such thatfourth hinge connector 1350 rotates relative tothird hinge connector 1370 andfirst arm member 1220 about a second axis of rotation that is substantially perpendicular to the first axis of rotation of thesecond hinge connector 1390. As shown inFIG. 7 , thefourth hinge connector 1350 rotates about the X-axis. - As shown in
FIGS. 7 and 8 , thethird arm member 1590 includes ahousing 1591 fixedly attached to thethird actuator assembly 1604. In some examples, thethird actuator assembly 1604 includes afixed end 1608 attached to thehousing 1591 and arotating end 1610 that is rotatable about a third axis of rotation (which in some embodiments, is the Z-axis) relative to thefixed end 1608. In some examples, therotating end 1610 is attached to ashaft 4170 such that theshaft 4170 rotates about the Z-axis. In other examples, theshaft 4170 extends through thethird actuator assembly 1604 and is rotatably attached to thehousing 1591. In some embodiments, thehousing 1591 ofthird arm member 1590 is fixedly attached tofourth hinge connector 1350 ofsecond arm member 1360 such thatthird arm member 1590 rotates in the same second axis of rotation asfourth hinge connector 1350. As shown inFIG. 7 ,third arm member 1590 rotates around the X-axis. Thethird arm member 1590 extends away fromsecond arm member 1360 and attaches to ashaft 4170 of anozzle assembly 4150 as illustrated inFIG. 7 . - The components of
apparatus 1000 may be made of suitable materials such as composite materials, metals, and/or plastic. In one embodiment, components ofapparatus 1000 may be made of aluminum to protect components withinapparatus 1000 and allow for optimal rotational capabilities and functionalities ofapparatus 1000. The combination of the rotation offirst arm member 1220,second arm member 1360, and/orthird arm member 1590 of theMAAA 1030 allows for theapparatus 1000 to be rotated about X, Y, and Z axes such that thenozzle assembly 4150 can direct a spray in a particular direction within an interior of an enclosed area. In some embodiments,first arm member 1220,second arm member 1360, and/orthird arm member 1590 may include swivel connectors and/or other connections/joints/assemblies to facilitate cleaning by theapparatus 1000. In other embodiments, the number and location of the connections/joints/assemblies may be varied to achieve a desired movement of theapparatus 1000. - The
nozzle assembly 4150 includes anozzle 4180 held in place by anozzle grip 4160 attached to theshaft 4170. In some embodiments, thenozzle assembly 4150 is configured for 360° rotation via connection of theshaft 4170 to the rotatablethird actuator assembly 1604. As shown inFIG. 7 , thenozzle assembly 4150 may rotate about the Z-axis. - In various embodiments, the
nozzle assembly 4150 may be attached to a pressure line (not shown). Thenozzle 4180 may include single and/or dual spray ends. In various examples, thenozzle 4180 may be a high pressure and/or variable speed nozzle that rotates, thereby spinning spray ends and providing single or dual rotating jets of fluids for breaking-up and fluidizing materials. - As shown in
FIGS. 7-11 , in some examples, thenozzle 4180 includes an end fitted with anend cap 4190 with a singlefluid exit hole 4191. In other embodiments, as shown inFIG. 15 ,nozzle 4180 may include anend 1501 withmultiple exit holes 1503 for increased flow of fluids. In some embodiments, as illustrated inFIG. 7 , theend cap 4190 with the singlefluid exit hole 4191 may be configured to fit onto the ofnozzle 4180 having multiple exit holes to convert the multiple exit holes into a single exit hole for more direct/focused flow of fluids. Alternatively, thenozzle 4180 may include other suitable configurations designed to provide fluid at high pressures to fluidize material. As described previously, water flow may be provided at high pressures and high flow rates. Larger flow rates and pressures are possible by increasing magnetic strength, numbers, and/or configurations of components ofapparatus 1000, and/or by providing additional supports for mountingapparatus 1000 against the interior wall and/or floor of the enclosed area. - In various examples, the
first actuator assembly 1600,second actuator assembly 1602, and/orthird actuator assembly 1604 each include a fixed end 1608 (see, e.g.,FIG. 12 ), a rotating end 1610 (see, e.g.,FIG. 13 ) opposite thefixed end 1608, and a shaft 4170 (or similar device) positioned within each of thefirst actuator assembly 1600,second actuator assembly 1602, and/orthird actuator assembly 1604, respectively. A first end of shaft may interact with and/or connect to fixedend 1608 and a second end of shaft may interact with and/or connect torotating end 1610. In some examples, and as described below, sensors may be provided on thefixed end 1608 and therotating end 1610 of each actuator assembly. By providing some sensors on thefixed end 1608 and some sensors on therotating end 1610, detection of relative movement between the sensors on therotating end 1610 and on thefixed end 1608 can be used to determine rotation or movement of the arm segments. - As shown in
FIG. 7 , thefixed end 1608 of thefirst actuator assembly 1600 is attached to a surface offirst hinge connector 1400 and therotating end 1610 of thefirst actuator assembly 1600 is attached to a surface of thesecond hinge connector 1390. In this embodiment, thefixed end 1608 of thesecond actuator assembly 1602 is attached to a surface of thethird hinge connector 1370 and therotating end 1610 of thesecond actuator assembly 1602 is attached to a surface of thefourth hinge connector 1350. In this embodiment, thefixed end 1608 of thethird actuator assembly 1604 is attached to thehousing 1591 and therotating end 1610 of thethird actuator assembly 1604 is attached to theshaft 4170 of thenozzle assembly 4150. In other examples, theshaft 4170 may extend to thehousing 1591 and is rotatably attached to thehousing 1591. - In various embodiments, multiple sensors may be affixed to the exterior and/or interior of the
MAAA 1030 to detect the positioning and location of components of theMAAA 1030, including but not limited to thefirst arm member 1220,second arm member 1360,third arm member 1590, and/ornozzle assembly 4150. As illustrated inFIGS. 7 and 8 , in certain embodiments, a firstexternal sensor 1500 and a secondexternal sensor 1502 may be attached to an exterior surface of thefirst hinge connector 1400 andthird hinge connector 1370, respectively, such that they interface with thefixed end 1608 of each of thefirst actuator assembly 1600 andsecond actuator assembly 1602, respectively. In this embodiment, a firstinternal sensor 1504 may be installed withinhousing 1591 such that it interfaces with fixedend 1608 ofthird actuator assembly 1604. However, in other embodiments, the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 may be attached to other suitable exterior and/or interior areas ofMAAA 1030. - In exemplary embodiments, the first
external sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 may be rotary angle/position sensors such as the RS53 Rotary Position Sensors provided by the Parker Harmifin Corporation, as illustrated inFIG. 14 , or various other suitable sensors for detecting rotation and/or a position of the arm segments. While the sensor illustrated inFIG. 14 is illustrated for use as the firstexternal sensor 1500, it may also be used for the secondexternal sensor 1502 and/or firstinternal sensor 1504. In some examples, the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 may be analog output, non-contacting ferrous sensors with an angular range of up to 360 degrees. In various examples, the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 may utilize Hall Effect technology and may be customized in a single package to reduce rotary alignment issues and variations in signals caused by vibration and axial variations. Hall Effect sensors are transducers that vary their output voltage in response to a magnetic field, and are commonly used for proximity switching, positioning, speed detection, and other sensing applications. - Referring to
FIG. 14 , the firstexternal sensor 1500 is illustrated. In various examples, the secondexternal sensor 1502 and/or the firstinternal sensor 1504 may have a configuration similar to that of the firstexternal sensor 1500 illustrated inFIG. 14 . As shown inFIG. 14 , the firstexternal sensor 1500 may include a rotating keyhole A, which is configured to rotate during rotation of components of the MAAA 1030 (e.g., including thefirst arm member 1220,second arm member 1360, and/orthird arm member 1590, respectively) via connection to a shaft of the first, second, andthird actuator assemblies - In particular embodiments, the first and second
external sensors second arm members shaft 4170 of each of the first andsecond actuator assemblies fixed end 1608 of each of the first andsecond actuator assemblies external sensors - In some examples, the first
internal sensor 1504 may be installed within thehousing 1591 and attached to thethird actuator assembly 1604 such that theshaft 4170 is inserted into therotating end 1610 of thethird actuator assembly 1604, through thefixed end 1608 of thethird actuator assembly 1604, and into the rotating keyhole A of the firstinternal sensor 1504. - According to various embodiments and as illustrated in
FIG. 14 , the firstexternal sensor 1500 may also include power andcommunication wires 1510 used to provide a signal from the first external sensor 1500 (and/or secondexternal sensor 1502 and/or first internal sensor 1504) to other components, such as a PLC device used to program and/or control movement of theMAAA 1030. Particularly, signals from thesensor 1500 may include accurate readings of the positioning of components of theMAAA 1030, thereby allowing for more optimized automated movement of theMAAA 1030 within the enclosed area to be cleaned. - Embodiments of the
MAAA 1030 described herein may allow for 360° rotation of movement of each of the first, second, andthird actuator assemblies nozzle 4180 attached to thethird actuator assembly 1604, via connections to thecontrol lines FIGS. 10 and 11 . - The
control lines third arm members FIGS. 10 and 11 , thecontrol lines third actuator assemblies third actuator assemblies - In an exemplary embodiment, the
control lines third arm members apparatus 1000 via thecontrol lines - In other embodiments, the
control lines communication wires 1510 of the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504, may be used to send positioning data of components of theMAAA 1030 from the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 to a PLC device used to program and/or control movement of theMAAA 1030. As will be further described herein, theapparatus 1000 may then be controlled manually or from pre-programmed algorithms through the PLC device such that components ofapparatus 1000 are movable through multiple directions and axes within an enclosed area to allow for more focused cleaning of surfaces of the enclosed area. - Similar to the
apparatus 100, theapparatus 1000 may be remotely controlled by an operator at a control station external to the enclosed area. The control station may be a stationary or non-stationary structure. The control station may be operatively connected to theapparatus 1000 and transmit signals to theapparatus 1000 via thecontrol lines apparatus 1000 being mounted to the enclosed area, or may be attached toapparatus 1000 prior to mounting. A display device may also be provided at the control station so that the operator may monitor theapparatus 1000 inside the enclosed area via the camera and make any necessary adjustments to theapparatus 1000. - Referring back to
FIG. 4 , a cleaning andtrack system 400 is shown. The cleaning andtrack system 400 may include thecleaning apparatus 100 and/orcleaning apparatus 1000 attached to a track/drive system 414 and/or to a mountingsupport structure 415, whereby theapparatus 100 and/or track/drive system 414 may be movable through multiple axes within the enclosed area. In various embodiments, the cleaning andtrack system 400 may be automated and/or remotely operable. In some examples, the cleaning andtrack system 400 may be controlled via hydraulic, pneumatic, and/or electrical methods. - In the embodiment illustrated in
FIG. 4 , the cleaning andtrack system 400 includes thecleaning apparatus 100 with theMAAA 103 having thefirst arm member 122 and thesecond arm member 136. TheMAAA 103 is connected to a single highpressure water nozzle 418 configured to provide for additional impact force at the area being cleaned. Alternatively, theMAAA 103 may be connected to thenozzles 110 described herein or other configurations ofnozzles 110. - In some embodiments, the
cleaning apparatus 100 is attached to the track/drive system 414. In some examples, the track/drive system 414 includes afirst support 416 and asecond support 417. Thefirst support 416 includescovers 421 that at least partially surround arod 419. Although twocovers 421 are illustrated, in other examples, any number ofcovers 421 may be provided, including a single cover 421 (e.g., two covers formed as a unitary component) or more than two covers 421. Thecovers 421 may be spaced apart by agap 302 that is configured to accommodate movement of afirst trolley unit 450 along therod 419. As such, in various examples, thecovers 421 may have a generally inverted U-shape, a generally inverted V-shape, curved hook, L-shaped, T-shaped, or various other suitable shapes as desired. - Similar to the
first support 416, thesecond support 417 includescovers 422 that at least partially surround arod 420. Like thecovers 421, the number or shape of thecovers 422 should not be considered limiting on the current disclosure. Similar to thefirst support 416, thecovers 422 of thesecond support 417 may be spaced apart by agap 304 that is configured to accommodate movement of asecond trolley unit 451 along therod 420. - In certain examples and as illustrated in
FIG. 4 , thefirst support 416 extends in a direction (e.g., along an X-axis) that is substantially perpendicular to a direction (e.g., along a Y-axis) in which thesecond support 417 extends, although it need not. For example, in other embodiments, thefirst support 416 may be at other angular orientations relative to thesecond support 417 as desired. - As described previously, the
first support 416 includes therod 419 and thesecond support 417 includes therod 420. In some examples, therods trolleys rods first support 416 and thesecond support 417, respectively. As illustrated inFIG. 4 , in some examples, therod 419 may be rotatable about the X-axis (or the axis along which thefirst support 416 extends) and therod 420 may be rotated about the Y-axis (or the axis along which thesecond support 417 extends). In various examples, thefirst support 416 includes afirst motor 306 that is configured to rotate therod 419 and thesecond support 417 includes asecond motor 308 that is configured to rotate therod 420. In various other examples, other suitable mechanisms for rotating therods 419, 420 (e.g., hydraulic, pneumatic, and/or electrical power, etc.) may be utilized. As described below, through rotation of therods trolleys rods rods - The
cleaning apparatus 100 is attached to thefirst support 416 such that thecleaning apparatus 100 may be movable and/or driven along the length of thefirst support 416. Thecleaning apparatus 100 may be magnetically attached to thefirst support 416 or attached via thefirst trolley unit 450 as described herein. Alternatively, thecleaning apparatus 100 may be attached to thefirst support 416 via other attachment mechanisms. Theapparatus 100 may be remotely controlled and mechanically driven alongfirst support 416. As shown inFIG. 4 , in some non-limiting examples, thecleaning apparatus 100 is movable along the X-axis. - In various embodiments, the
first support 416 is attached tosecond support 417 such that thefirst support 416 may be movable and/or driven along the length of thesecond support 417. Thefirst support 416 may be magnetically attached tosecond support 417 or attached via thesecond trolley unit 451 as described herein. Alternatively, thefirst support 416 may be attached to thesecond support 417 via other attachment mechanisms. Thefirst support 416 may be remotely controlled and mechanically driven. As shown inFIG. 4 , thefirst support 416 and attachedcleaning apparatus 100 are movable along the Y-axis. -
FIGS. 4A and 4B show enlarged cutaway views of thetrolleys apparatus 100 is attached to thefirst trolley unit 450, although it need not be. Referring toFIG. 4A , thefirst trolley unit 450 includes anattachment portion 310 that is threadably engaged with therod 419 such that rotation of therod 419 linearly moves thefirst trolley unit 450 along therod 419. Theattachment portion 310 is connected to abase portion 312 of thefirst trolley unit 450. In some examples, when thefirst trolley unit 450 is supported on therod 419, theattachment portion 310 may extend through thegap 302. Thebase portion 312 of thefirst trolley unit 450 may support theapparatus 100 through various suitable permanent or non-permanent mechanisms including, but not limited to, screws, pins, hooks, bolts, adhesives, welding, or various other suitable mechanisms. In some non-limiting examples, theattachment portion 310 includes aplate 318 extending from thebase portion 312 and having a cylindrical rod-receivingportion 316. When thefirst trolley unit 450 is mounted on therod 419, therod 419 may extend through the cylindrical rod-receivingportion 316. In other examples, theattachment portion 310 may have various other components and/or configurations suitable for threadably supporting thefirst trolley unit 450 on therod 419. Through thefirst trolley unit 450, theapparatus 100 is movable along the X-direction defined by thefirst support 416. - Referring to
FIG. 4B , thesecond trolley unit 451 is shown.Second trolley unit 451 is attached tofirst support 416 at a first end andsecond support 417 at a second end. Similar to thefirst trolley unit 450, thesecond trolley unit 451 includes anattachment portion 320 and abase portion 322. Theattachment portion 320 is threadably engaged with therod 420 such that rotation of therod 420 linearly moves thesecond trolley unit 451 along therod 420. In some examples, when thesecond trolley unit 451 is supported on therod 420, theattachment portion 320 extends through thegap 304. Thebase portion 322 may support thefirst support 416 through various suitable permanent or non-permanent mechanisms including, but not limited to, screws, pins, hooks, bolts, adhesives, welding, or various other suitable mechanisms. In some non-limiting examples, theattachment portion 320 includes aplate 324 extending from thebase portion 322 and having a cylindrical rod-receivingportion 326. When thesecond trolley unit 451 is mounted on therod 420, therod 420 may extend through the cylindrical rod-receivingportion 326. In other examples, theattachment portion 320 may have various other components and/or configurations suitable for threadably supporting thesecond trolley unit 451 on therod 420. Through thesecond trolley unit 451, the first support 416 (and thus the apparatus 100) is movable along the Y-direction defined by thesecond support 417. - Although not shown in this configuration, the
rods second supports rods second supports second supports second supports - In some embodiments, opposing ends of the first and
second supports first support 416 may be pre-mounted to an interior surface of a container and thesecond support 417 may be subsequently inserted into the container and mounted onto thefirst support 416. - The cleaning and
track system 400 may be attached to a mountingsupport structure 415 via magnets or other temporary or permanent attachment mechanisms. In various embodiments, the cleaning andtrack system 400 may be strategically placed within an enclosed area according to any specific positioning required for comprehensive movement. In exemplary embodiments, the mountingsupport structure 415 is a longitudinal I-beam. However, the mountingsupport structure 415 may be a rounded rod/bar and/or have other shapes suitable for attachment of the cleaning andtrack system 400. As shown inFIG. 4 , thesecond support 417 may extend in a direction perpendicular to the mountingsupport structure 415, although in other embodiments, thesecond support 417 may be at any suitable angular configuration relative to the mountingsupport structure 415. In examples where thesecond support 417 is perpendicular to the mountingsupport structure 415, thecleaning apparatus 100 and theMAAA 103 may move in a multitude of directions within the enclosed area—including but not limited to horizontal, vertical, circular, and/or spiral directions so as to cover any and all enclosed areas. In some embodiments, the mountingsupport structure 415 may be mounted within an interior of the enclosed area. In other embodiments, the mountingsupport structure 415 may be lowered or inserted into any area to be cleaned, including manholes. - Depending on the configuration of an area to be cleaned, multiple different arrangements of the
track system 400 and/or mountingsupport structure 415 are possible. Although disclosed as being connected perpendicularly, the first andsecond supports support structure 415 may be attached to each other in other configurations necessary to assistapparatus 100 in performing its cleaning functions. In embodiments, each component of the cleaning andtrack system 400, includingcleaning apparatus 100,first support 416, andsecond support 417, as well as mountingsupport structure 415 may be separately mounted within or outside a container, and/or may be maneuvered into the container as separate components or as a pre-mounted system/apparatus prior to cleaning. For example, in some embodiments, the track/drive system 414 may be mounted within a container, and theapparatus 100 may be lowered into the container and attached to the track/drive system 414. In other embodiments, theapparatus 100 may be mounted within the container and the track/drive system 414 may be lowered into the container and attached to theapparatus 100. In yet other embodiments, thefirst support 416 of track/drive system 414 may be mounted within the container and thesecond support 417 of track/drive system 414 may be lowered into the container and attached to thefirst support 416. In some embodiments, the mountingsupport structure 415 may be mounted within the container and thetrack system 400 and/or its individual components may be lowered into the container and attached to the mountingsupport structure 415. -
FIGS. 16-20 illustrate another embodiment of a cleaning andtrack system 4000. In various embodiments, the cleaning andtrack system 4000 may include thecleaning apparatus 100 and/orcleaning apparatus 1000 disclosed herein attached to a track/drive system 4140, whereby theapparatus drive system 4140 may be movable through multiple axes within an enclosed area. Cleaning andtrack system 4000 may be automated and/or remotely operable. Cleaning andtrack system 4000 may be controlled via hydraulic, pneumatic, and/or electrical methods. - In various embodiments, the cleaning and
track system 4000 may be configured to be mounted outside a tank and/or enclosed area to be cleaned to reduce and/or eliminate entry into the enclosed area. Components of the cleaning andtrack system 4000, including theapparatus 1000 and/or the track/drive system 4140, may be mounted within an interior 4003 of thecontainer 4001 prior to cleaning, and/or lowered or inserted into any area to be cleaned, including through manholes oropenings 4007 in thecontainer 4001. SeeFIGS. 19 and 20 . Cleaning andtrack system 4000 may be configured to be easily moved between different areas that require cleaning. Cleaning andtrack system 4000 may be strategically placed according to any specific positioning required for comprehensive movement within an enclosed area. - As shown in
FIG. 16 , in one embodiment, the cleaning andtrack system 4000 includes thecleaning apparatus 1000 with theMAAA 1030 having asecond arm member 1360 andthird arm member 1590. TheMAAA 1030 includes thenozzle 4180 of thenozzle assembly 4150 configured to provide for additional impact force at the area being cleaned. In alternative embodiments, the cleaning andtrack system 4000 may also include thefirst arm member 1220 to provide for additional angles of rotation of theMAAA 1030. -
Cleaning apparatus 1000 is attached to a track/drive system 4140. Track/drive system 4140 includes a track/drive member 4800. As shown inFIG. 16 , the track/drive member 4800 may be attached toapparatus 1000 and to a bi-directionalhydraulic drive motor 4400. In exemplary embodiments, the track/drive member 4800 may be configured to interface with and/or attach to agear track 4600 such that track/drive member 4800 may be movable and/or driven along the length of thetrack 4600. - As shown in
FIG. 16 , track/drive member 4800 may be attached to thethird hinge connector 1370 of theapparatus 1000. Alternatively, the track/drive member 4800 may be attached to thefirst hinge connector 1400 of thefirst arm member 1220 and/or directly to thethird arm member 1590. -
Hydraulic motor 4400 in the track/drive system 4140 may be configured to facilitate movement of, and/or drive, the track/drive member 4800 along thetrack 4600. Although shown as a hydraulic motor, themotor 4400 may include other types of drive motors including, but not limited to, electric motors used to facilitate movement of the track/drive member 4800 along thetrack 4600. - As shown in
FIG. 17 , thehydraulic motor 4400 may be attached to the track/drive member 4800 such that agear 4700 of themotor 4400 may interface/interact with thetrack 4600. In some embodiments, thetrack 4600 may function as a gear track having teeth equally spaced along thetrack 4600 such that when thegear 4700 is placed on top of thetrack 4600 and rotated (via activation of hydraulic motor 4400), the linear nature of thetrack 4600 converts the rotary motion of thegear 4700 into linear motion—thereby driving the track/drive member 4800 and/or attachedapparatus 1000 alongtrack 4600. - In exemplary embodiments, the
track 4600 is made of steel and welded to an I-beam. In alternative embodiments, thetrack 4600 may be made of other suitable materials to assist the track/drive member 4800 and/or the attachedapparatus 1000 to move/drive along thetrack 4600. - The
track 4600 may be configured/positioned in a horizontal, vertical, or other suitable manner to allow cleaning andtrack system 4000 to move in a multitude of directions within an enclosed area—including but not limited to horizontal, vertical, circular, and/or spiral directions so as to cover any and all enclosed areas. In some examples, thetrack 4600 may be permanently mounted (natively or through retrofitting) on thecontainer 4001 or other item to be cleaned through various suitable mechanisms including, but not limited to welding, bolts, screws, pins, adhesives, cements, or various other suitable mechanisms. For example,FIG. 19 illustrates thetrack 4600 mounted on thecontainer 4001 through welding. Alternatively, thetrack 4600 may be removably mounted on the container 4001 (e.g., may be removed before and after cleaning) through various suitable mechanisms including, but not limited to, magnets, clips, clasps, hooks, pins, screws, bolts, or various other suitable mechanisms. - The track/
drive member 4800 includes a base 4801 definingwheel slots 4803. In various embodiments, thetrack drive member 4800 includeswheels 4500, such as at least twowheels 4500, which may also be installed with track/drive member 4800 so as to interact withtrack 4600 opposite from thegear 4700/track 4600 connection described herein. SeeFIG. 17 . In other words, thetrack 4600 is between thewheels 4500 and thegear 4700 during use.Wheels 4500 may be configured to facilitate movement of the track/drive system 4140 and attachedapparatus 1000 within enclosed area. Eachwheel 4500 includes awheel shaft 4807 that extends through thewheel slots 4803 and connects to aspring block 4202. In various examples, thewheel slots 4803 are elongated such that thewheels 4500 are individually movable (arrow 4805) in relative to the track/drive member 4800 such that the track/drive member 4800 may travel along acurved track 4600 while maintaining contact with thetrack 4600. - As illustrated in
FIG. 17 , theinner edges 4005 ofwheels 4500 may be separated by a gap having a width slightly larger than the width oftrack 4600. In this way, thetrack 4600 can be positioned within the gap formed betweenadjacent wheels 4500 and thewheels 4500 help to stabilize the track/drive member 4800 on thetrack 4600 during movement of cleaning andtrack system 4000. In other words, thewheels 4500 provide stability and limit or reduce side-to-side movement of the track/drive member 4800. In alternative embodiments,gear 4700 andwheels 4500 may be attached to/interfaced withtrack 4600 in other suitable configurations to optimize movement of cleaning andtrack system 4000 within enclosed area. - In various embodiments, track/
drive member 4800 may include aspring block 4202 attached to a first end of aspring 4200 and aspring tensioner 4300 attached to a second end of thespring 4200. SeeFIG. 16 . In exemplary embodiments, track/drive member 4800 includes onespring block 4202 attached to twosprings 4200 and twospring tensioners 4300. -
Spring 4200 may be configured to provide additional stability to track/drive system 4140 and further provide additional spring action for vertical movement of cleaning andtrack system 4000. In certain embodiments, thespring 4200,spring block 4202,spring tensioners 4300, andwheel shafts 4807 movable within thewheel slots 4803 allow for the track/drive member 4800 maintain contact with thetrack 4600 as the track/drive member 4800 travels along thetrack 4600. Particularly, thewheel shafts 4807 may individually slide within thewheel slots 4803 relative to thebase 4801 to accommodate changes in curvature of the track. As thewheel shafts 4807 move to accommodate the track, thespring 4200 may compress and/or extend such that thewheels 4500 maintain contact on thetrack 4600. For example, as illustrated inFIG. 19 , when the track/drive member 4800 climbs the curved portion of thetrack 4600, thewheels 4500 may slide within thewheel slots 4803 relative to thebase 4801 depending on the position of the track/drive member 4800 relative to the curved portion, and through thespring 4200, the the track/drive member 4800 maintains contact with thetrack 4600 while going around the curved portion and vertically climbing thetrack 4600.Spring block 4202 may be configured to provide support/stability tosprings 4200 and/or cleaning andtrack system 4000.Spring tensioners 4300 may be a suitable device or mechanism that applies a force to create or maintain tension withinsprings 4200. - In alternative embodiments,
cleaning apparatus 1000 and track/drive system 4140 may be attached to each other via other suitable attachment mechanisms and/or driven via other pneumatic and/or electrical methods such that track/drive system 4140 may facilitate additional movement ofapparatus 1000 within enclosed area. - A vacuum line 4009 (see
FIG. 19 ) may be placed on or near the floor of an area to be cleaned and may be configured to remove water and fluidized debris/materials from the area. One ormore cleaning apparatuses systems systems - Cleaning and
track system track system MAAA drive system external sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 described herein. In other embodiments, sensor and positioning components may include a laser based device, an ultrasonic based device, an optical based device, linear transducers, angle transducers, magnetic transducers, thermal light imaging devices, or other similar devices. In particular embodiments, the laser sensor may be a rangefinder sensor such as a SICK Optic Laser Scanner. - Cleaning and
track system - Instructing or teaching is an on line operation whereby an operator may manually or remotely control the
apparatus track system apparatus track system - Under the next Route Profiling step, generally an offline activity, positioning data is derived from the sensor and positioning components attached to the
MAAA drive system - Once received from the sensor and positioning components, the positioning data is then logged to a log file on a processor in a computer or similar device for processing at a later point; the purpose being to define a route, for subsequent reproduction, by operating the
MAAA apparatus - Once generated, the Route Profile is then implemented in the next step—Reproduction or Playback. Reproduction is an online method whereby the PLC device is configured to automatically reproduce or playback the cleaning sequence using the saved Route Profile, and also constantly monitor the sensor and positioning components. The PLC device is configured to repeat the pre-programmed cleaning sequence by sending and receiving signals simultaneously.
- Referring back to
FIG. 5 , a flow chart depicting a method of programming the cleaning andtrack system PLC device 501 controls all movement of the track system and/orMAAA 503 by sending an electrical signal to an Electro-Hydraulic Flow Control (EHFC)device 502. In exemplary embodiments, the EHFC device may be a known EHFC device that uses a Continental Directional Control valve with 24 volt DC solenoids. SWH-GO-C4-D24-20 and VEDO3M-3AC-1 6-A-K1-24DC may be two different size controllers on the valve.EHFC device 502 is configured to receive the electric signal from thePLC device 501, and thereby control nozzle valve operation ofapparatus 100. TheEHFC device 502 may be configured to provide hydraulic, pneumatic and/or electrical output. - In some embodiments, the
PLC device 501 may bypass control of theEHFC device 502 by providing direct electrical signals to the track system and/orMAAA 503. In other embodiments, as shown inFIG. 5 ,PLC device 501 provides direct electrical signals to the sensor andpositioning components 504. Sensor andpositioning components 504 may include the firstexternal sensor 1500, secondexternal sensor 1502, and/or firstinternal sensor 1504 described herein. Sensor andpositioning components 504 may be located in multiple different areas on the track system and/orMAAA 503 as described herein and may provide a multitude of different functions. - Manual overrides 510 may be accomplished at any time during operation and programming of the cleaning sequence.
Overrides 510 may occur through control of thePLC device 501 or theEHFC device 502.Overrides 510 may be accomplished by using control mechanisms located within a cabin/control station located remotely, which may then override automated controls of the PLC device.Overrides 510 may also be accomplished via manual valve control through a lever system within the EHFC device. Finally, these steps may be repeated until the desired optimal cleaning sequence is completed. - Referring now to
FIG. 6 , a flow chart depicting a method of cleaning using a programmable cleaning andtrack system first step 601 of using an operator to implement a programmable starting logic sequence configured to allow thePLC device 501 as disclosed herein to begin sending and receiving signals. Operator may typically be a skilled person who works with the cleaning andtrack system 400 to ensure that thetrack system 400 functions properly, performs ongoing quality control, and provides an overall level of craftsmanship that may be lacking in a fully automated system. Alternatively, the sequence may be implemented without an operator. - In the
next step 602, once the sequence is implemented, thePLC device 501 begins to receive a signal from the sensor andpositioning components 504, thereby allowing thePLC device 501 to send the correct signal to theEHFC device 502. - In the
next step 603, theEHFC device 502 receives the signal from thePLC device 501, and then provides for resulting hydraulic, pneumatic and/or electrical flow to position the track system and/orMAAA 503 in an optimal cleaning position. - In the
next step 604, track system and/orMAAA 503, produce the optimal cleaning motion for a pre-determined time period according to pre-programmed algorithms. This optimal cleaning motion includes smooth and consistent maneuvers of the track system and/orMAAA 503, and further limits useless, random, and wasted movement of the system by targeting a specific area for cleaning within an enclosed area. - The specific time to clean an enclosed area or other surface may vary depending on several factors, including but not limited to the size of the area or surface to be cleaned and the amount of material to be cleaned. Embodiments of the present disclosure may provide for at least a 33% reduction in overall cleaning time compared to existing systems.
- Finally, in
step 605, if an area has been sufficiently cleaned, the cleaning process is completed and the track system and/orMAAA 503 may be removed from the area. However, if the area requires further cleaning,steps track system 400 and cleaning sequence may be repeated until the area has been fully cleaned. If additional areas require cleaning, the cleaning andtrack system 400 may be moved to those areas, and steps 601, 602, 603, 604 for cleaning may be repeated until the areas have been fully cleaned. - In embodiments of the present disclosure, a method of cleaning an area is provided. The method includes delivering/moving a
cleaning apparatus track system Cleaning apparatus track system apparatus track system apparatus apparatus apparatus track system -
FIGS. 21-24 illustrate another embodiment of acleaning apparatus 10. Thecleaning apparatus 10 includes asupport structure 12. Optionally, thesupport structure 12 includes at least onedrive motor 14, which may be similar to the drive motors of thecleaning apparatus 100 and/or thecleaning apparatus 1000. Acover 16 is optionally provided to enclose thedrive motor 14. In some cases, thesupport structure 12 includesconnector tabs 18 which may be used to connect thecleaning apparatus 10 to a movement system that allows for positioning of thecleaning apparatus 10 within the container (e.g., a lifting mechanism, thetrack system 4000, or various other suitable mechanisms or systems). - In certain embodiments, the
cleaning apparatus 10 includes arotatable base 20 that is rotatable relative to the support structure 12 (see arrow 22). In some embodiments, therotatable base 20 is rotatable about a base axis ofrotation 24. Therotatable base 20 has afirst end 21 and asecond end 23 opposite from thefirst end 21. Optionally, acamera 26 may be mounted on the rotatable base 20 (or on the container or various other suitable locations on the cleaning apparatus 10). InFIGS. 21-24 , thecamera 26 is mounted on therotatable base 20 between thefirst end 21 and thesecond end 23. Similar to the camera described above, thecamera 26 may monitor thecleaning apparatus 10 such that adjustments may be made as needed, such as during cleaning. - The
cleaning apparatus 10 also includes anextendable arm 28 which is positionable relative to the rotatable base 20 (see arrow 30). In certain examples, the extendable arm is positionable along the base axis ofrotation 24, although it need not be. - In various embodiments, the
cleaning apparatus 10 includes anozzle support 32. In some embodiments, thenozzle support 32 is at an end of theextendable arm 28, although it needed not be. Through theextendable arm 28, thenozzle support 32 is positionable relative to therotatable base 20, and through therotatable base 20, thenozzle support 32 is rotatable relative to thesupport structure 12. In some examples, thenozzle support 32 is configured to support at least onethird arm member 1590 and/or at least one second arm member 1360 (and/or at least one first arm member 1220). In the example illustrated inFIGS. 21-24 , thenozzle support 32 supports twothird arm members 1590 and twosecond arm members 1360. As previously discussed, thesecond arm members 1360 are rotatable about second axes ofrotation 34A-B (seearrows 36A-B) and the third arm members are rotatable about third axes ofrotation 38A-B (seearrows 40A-B). - Through the movement indicated by the
arrows cleaning apparatus 10 can selectively control where nozzles distribute water, such as within a container 42 (seeFIG. 24 ). - A collection of exemplary embodiments, including at least some explicitly enumerated as “ECs” (Example Combinations), providing additional description of a variety of embodiment types in accordance with the concepts described herein are provided below. These examples are not meant to be mutually exclusive, exhaustive, or restrictive; and the invention is not limited to these example embodiments but rather encompasses all possible modifications and variations within the scope of the issued claims and their equivalents.
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EC 1. A cleaning apparatus, comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus. -
EC 2. The apparatus of any of the preceding or subsequent example combinations, wherein the arm includes: a first arm member; a second arm member attached to the first arm member, and a third arm member having a first end and a second end, the third arm member attached to the second arm member at the first end and to the nozzle assembly at the second end, wherein the first arm member is configured to rotate around a first axis, wherein the second arm member and third arm member are configured to rotate relative to the first arm member around a second axis that is substantially perpendicular to the first axis. -
EC 3. The apparatus of any of the preceding or subsequent example combinations, wherein the first arm member includes first and second hinge connectors interconnected via a rotatable first actuator assembly. - EC 4. The apparatus of any of the preceding or subsequent example combinations, wherein the second arm member includes third and fourth hinge connectors interconnected via a rotatable second actuator assembly.
- EC 5. The apparatus of any of the preceding or subsequent example combinations, wherein the first hinge connector is fixedly attached to a plate and the second hinge connector is rotatably attached to the first actuator assembly such that the second hinge connector rotates around the first axis.
- EC 6. The apparatus of any of the preceding or subsequent example combinations, wherein the third hinge connector is fixedly attached to the second hinge connector and the fourth hinge connector is rotatably attached to the second actuator assembly such that the fourth hinge connector rotates relative to the first arm member around the second axis.
- EC 7. The apparatus of any of the preceding or subsequent example combinations, wherein the third arm member is fixedly attached to the second arm member such that the third arm member rotates relative to the first arm member along the second axis.
- EC 8. The apparatus of any of the preceding or subsequent example combinations, wherein the third arm member includes a housing attached to a rotatable third actuator assembly.
- EC 9. The apparatus of any of the preceding or subsequent example combinations, wherein the nozzle assembly includes a nozzle held in place by a nozzle grip attached to a shaft, wherein the nozzle assembly is configured for 360 degree rotation via connection of the shaft to the rotatable third arm member.
-
EC 10. The apparatus of any of the preceding or subsequent example combinations, wherein the first actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the first actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end. - EC 11. The apparatus of any of the preceding or subsequent example combinations, wherein the second actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the second actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end.
-
EC 12. The apparatus of any of the preceding or subsequent example combinations, wherein the third actuator assembly includes a fixed end, a rotating end opposite the fixed end, and a shaft positioned within the third actuator assembly such that a first end of the shaft interacts with the fixed end and a second end of shaft interacts with the rotating end. - EC 13. The apparatus of any of the preceding or subsequent example combinations, wherein the apparatus includes a first external sensor attached to the first arm member, a second external sensor attached to the second arm member, and a first internal sensor attached to the third arm member.
-
EC 14. The apparatus of any of the preceding or subsequent example combinations, wherein the apparatus includes a first internal sensor installed within the housing such that the first internal sensor interfaces with the fixed end of the third actuator assembly. - EC 15. The apparatus of any of the preceding or subsequent example combinations, wherein the first end of the shaft is inserted through the fixed end and into a rotating keyhole of the first internal sensor, wherein the keyhole is configured to rotate during rotation of the shaft such that the first internal sensor obtains the positioning and location of the apparatus.
-
EC 16. The apparatus of any of the preceding or subsequent example combinations, further comprising control lines connected to a control station, the control lines configured to control movement of the at least two rotatable arm members. - EC 17. A system for cleaning an area, comprising: a cleaning apparatus, comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; at least one camera mounted within the area; and a vacuum line mounted within the area, wherein the apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid, wherein an operator views the apparatus and area via the at least one camera.
-
EC 18. The system of any of the preceding or subsequent example combinations, further comprising: control lines configured to control movement of the at least two rotatable arm members, wherein the control lines are connected to a control station and are configured to allow the operator to remotely operate the apparatus. - EC 19. The system of any of the preceding or subsequent example combinations, further comprising a track system including a track member movably attached to a gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bidirectional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
-
EC 20. A cleaning and track system, comprising: a cleaning apparatus, comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; a track system movably attached to the apparatus, comprising: a gear rack; and a track member movably attached to the gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack; at least one camera mounted near the cleaning and track system; and a vacuum line mounted near the cleaning and track system, wherein the apparatus is configured to spray a fluid via the nozzle assembly and the vacuum line removes the fluid and any materials contained in the fluid, wherein an operator views the apparatus via the at least one camera. -
EC 21. The system of any of the preceding or subsequent example combinations, further comprising control lines configured to control movement of the at least two rotatable arm members, wherein the control lines are connected to a control station and are configured to allow the operator to remotely operate the apparatus and track system. -
EC 22. The system of any of the preceding or subsequent example combinations, wherein the track member includes a spring block attached to a first end of a spring and a spring tensioner attached to a second end of the spring, wherein the spring compresses or extends to facilitate movement of the apparatus along the rack. -
EC 23. A method of cleaning an area, comprising: mounting a cleaning apparatus within the area, the cleaning apparatus comprising: an arm; and a nozzle assembly attached to an end of the arm, wherein the arm includes at least two rotatable arm members allowing for manipulation of the nozzle assembly and at least one sensor attached to each of the at least two rotatable arm members to detect the positioning and location of the apparatus; connecting the cleaning apparatus to a high pressure fluid line; remotely operating the cleaning apparatus to control a direction of flow from the high pressure fluid line; directing a flow of fluids towards material on a surface of the area to remove the material from the surface; and removing the fluids and material via a vacuum line. -
EC 24. The method of any of the preceding or subsequent example combinations, wherein the apparatus is remotely operated via control lines connected from a control station to the apparatus, the control lines configured to control movement of the at least two rotatable arm members. - EC 25. The method of any of the preceding or subsequent example combinations, further comprising attaching the apparatus to a track system including a track member movably attached to a gear rack, wherein a first end of the track member is attached to the apparatus and the second end of the track member is attached to a bi-directional drive motor, wherein the motor is attached to the track member such that a gear of the motor interfaces with the rack to facilitate movement of the track system and apparatus along the rack.
-
EC 26. The method of any of the preceding or subsequent example combinations, wherein the apparatus is programmed by the steps of: instructing a route to the apparatus by the steps of: controlling the apparatus and defining the route via implementation of a starting cleaning sequence, wherein the route includes an initial cleaning of the area including a sequence of maneuvers positioning the apparatus for optimal cleaning purposes; and logging resulting route data from the at least one sensor to a memory; processing logged route data into a route profile, wherein the route profile includes a defined optimal cleaning sequence; and reproducing the route profile automatically using a Programmable Logic Control (PLC) device. - EC 27. The method of any of the preceding or subsequent example combinations, wherein the apparatus is operated by the steps of implementing the starting cleaning sequence using the PLC device, wherein the PLC device is configured to receive an electrical signal from the at least one sensor once the starting cleaning sequence is implemented; sending the signal to an Electro-Hydraulic Flow Control (EHFC) device via the PLC device, wherein the EHFC device is configured to provide at least one of hydraulic, pneumatic, and electrical flow; positioning the apparatus in an optimal cleaning position based on the signal and flow via the EHFC device; and performing a cleaning motion for a pre-determined amount of time according to the defined optimal cleaning sequence, wherein the PLC device is configured to repeat the defined optimal cleaning sequence by simultaneously sending and receiving signals.
-
EC 28. The method of any of the preceding or subsequent example combinations, further comprising observing movements of the cleaning apparatus and track system via at least one camera mounted within the area or on the apparatus. - EC 29. The method of any of the preceding or subsequent example combinations, wherein the steps for operating the apparatus are repeated until the area is cleaned.
-
EC 30. A cleaning apparatus, comprising: a nozzle assembly; and an arm supporting the nozzle assembly, wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm. - EC 31. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the first rotatable arm member comprises a fixed end and a rotating end, wherein the fixed end is in a fixed position relative to the first axis, and wherein the rotating end is rotatable about the first axis and relative to the fixed end.
-
EC 32. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the first axis is perpendicular to the second axis. - EC 33. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the arm further comprises a third rotatable arm member defining a third axis, wherein the third rotatable arm is rotatable about the third axis, and wherein the third axis is perpendicular to the second axis.
- EC 34. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the first arm member comprises a first hinge connector, a second hinge connector, and a first actuator assembly.
- EC 35. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the first hinge connector is fixedly attached to a plate and the second hinge connector is rotatably attached to the first actuator assembly such that the second hinge connector rotates around the first axis relative to the first hinge connector.
- EC 36. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the second arm member comprises a third hinge connector, a fourth hinge connector, and a second actuator assembly, wherein the third hinge connector is fixedly attached to the second hinge connector, and wherein the fourth hinge connector is rotatably attached to the second actuator assembly such that the fourth hinge connector rotates about the second axis relative to the third hinge connector.
- EC 37. The cleaning apparatus of any of the preceding or subsequent example combinations, wherein the at least one sensor comprises a first external sensor attached to the first arm member and a second external sensor attached to the second arm member.
- EC 38. A cleaning system comprising: a cleaning apparatus; and a drive system comprising: a track; and a carriage movable along the track and comprising a spring block, a track member, and at least one spring connecting the spring block and the track member, wherein the at least one spring member is movable between an expanded position and a compressed position such that the spring block is adjustable relative to the track member, and wherein the cleaning apparatus is attached to the carriage.
- EC 39. The cleaning system of any of the preceding or subsequent example combinations, wherein the cleaning apparatus comprises an arm and a nozzle assembly attached to the arm, and wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm.
- EC 40. The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a top side and a bottom side opposite the top side, wherein the top side comprises a plurality of teeth, and wherein the track defines a track width in a direction transverse to a direction from the top side to the bottom side.
- EC 41. The cleaning system of any of the preceding or subsequent example combinations, wherein the track member further comprises at least one wheel movable along bottom side of the track, wherein the at least one wheel comprises a first edge and a second edge, wherein a distance between the first edge and the second edge is greater than the track width, and wherein the at least one wheel is movable along the track such that the track is between the first edge and the second edge and the first edge and the second edge at least partially overlap the track.
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EC 42. The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a first track portion, a second track portion, and a curved track portion connecting the first track portion to the second track portion, wherein the first track portion extends in a first direction, and wherein the second track portion extends in a second direction different from the first direction. - EC 43. A cleaning system comprising: a cleaning apparatus comprising a nozzle assembly and an arm supporting the nozzle assembly, wherein the arm comprises: a first rotatable arm member defining a first axis, wherein the first rotatable arm is rotatable about the first axis; a second rotatable arm member defining a second axis and connected to the first rotatable member, wherein the second rotatable arm is rotatable about the second axis; and at least one sensor on the arm configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm; and a drive system comprising a track and a carriage movable along the track, wherein the cleaning apparatus is attached to the carriage.
- EC 44. The cleaning system of any of the preceding or subsequent example combinations, wherein the carriage comprises a spring block, a track member, and at least one spring connecting the spring block and the track member, and wherein the at least one spring member is movable between an expanded position and a compressed position such that the spring block is adjustable relative to the track member.
- EC 45. The cleaning system of any of the preceding or subsequent example combinations, wherein the first rotatable arm member comprises a fixed end and a rotating end, wherein the fixed end is in a fixed position relative to the first axis, and wherein the rotating end is rotatable about the first axis and relative to the fixed end
- EC 46. The cleaning system of any of the preceding or subsequent example combinations, wherein the arm further comprises a third rotatable arm member defining a third axis, wherein the third rotatable arm is rotatable about the third axis, and wherein the third axis is perpendicular to the second axis.
- EC 47. The cleaning system of any of the preceding or subsequent example combinations, wherein the track comprises a top side and a bottom side opposite the top side, wherein the top side comprises a plurality of teeth, and wherein the track defines a track width in a direction transverse to a direction from the top side to the bottom side.
- EC 48. The cleaning system of any of the preceding or subsequent example combinations, wherein the wherein the carriage comprises a spring block, a track member, and at least one spring connecting the spring block and the track member, and wherein the track member further comprises at least one wheel movable along bottom side of the track, wherein the at least one wheel comprises a first edge and a second edge, wherein a distance between the first edge and the second edge is greater than the track width, and wherein the at least one wheel is movable along the track such that the track is between the first edge and the second edge and the first edge and the second edge at least partially overlap the track.
- EC 49. The cleaning system of any of the preceding or subsequent example combinations, wherein the track member further comprises at least one gear wheel movable along the top side of the track, and wherein the at least one gear wheel comprises a plurality of teeth configured to engage the plurality of teeth on the top side of the track.
- The above-described aspects are merely possible examples of implementations, merely set forth for a clear understanding of the principles of the present disclosure. Many variations and modifications can be made to the above-described embodiment(s) without departing substantially from the spirit and principles of the present disclosure. All such modifications and variations are intended to be included herein within the scope of the present disclosure, and all possible claims to individual aspects or combinations of elements or steps are intended to be supported by the present disclosure. Moreover, although specific terms are employed herein, as well as in the claims that follow, they are used only in a generic and descriptive sense, and not for the purposes of limiting the described invention, nor the claims that follow.
Claims (20)
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US11065655B2 (en) | 2021-07-20 |
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