CN102764750B - Oil tank cleaning robot - Google Patents
Oil tank cleaning robot Download PDFInfo
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- CN102764750B CN102764750B CN201210284715.5A CN201210284715A CN102764750B CN 102764750 B CN102764750 B CN 102764750B CN 201210284715 A CN201210284715 A CN 201210284715A CN 102764750 B CN102764750 B CN 102764750B
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Abstract
The invention discloses an oil tank cleaning robot. The robot comprises a robot body, a walking unit, a cleaning unit, a control unit, a sensing communication unit and a power supply unit, wherein the robot body comprises a base plate, a lower casing and an upper casing, the walking unit comprises three driving wheels and three driving wheel hydraulic motors, the cleaning unit comprises a cleaning device and a self-excitation pulse device, the cleaning device comprises three cleaning disk brushes and three cleaning disk brush hydraulic motors, the self-excitation pulse device comprises a pulse device hydraulic motor, a retractable beam assembly and a self-excitation oscillating pulse nozzle, the control unit is composed of a remote control portion and a robot body control portion, and the sensing communication unit comprises a pressure sensor, a temperature sensor, an infrared sensor, an ultrasonic sensor, a horizontal attitude sensor, a turbidity sensor, a camera and an oil-gas concentration monitor. The robot is novel in design, high in intelligent degree, high in working reliability, good in safety performance, energy-saving, environment-friendly, high in practicability, high in popularization and application value and capable of achieving omni-directional cleaning.
Description
Technical field
The present invention relates to Technology of Oil Tank Cleaning field, especially relate to a kind of tank cleaning robot.
Background technology
At present, in China's oil chemical industry, for the memory device such as the crude oil such as oil storage tank and oil truck, because oil quality is difficult to guarantee, produce every year on average 800000 tons of tank bed muds, pond bed mud.The generation of greasy filth and accumulation not only affect oil quality, affect especially the use of oil storage equipment.Because the oil gas of high concentration is easily because naked light or dying fire explode, to the cleaning of oil tank bed mud, be therefore a danger and hard work.Past is manual work normally, and labour intensity is large, inefficiency, and easily accidents caused.Along with the construction of Chinese large-sized petroleum oil tank, the anxiety of the energy and the great attention day by day to environmental issue, traditional manual cleaning oil tank method has not met the objective requirement of Environment and development, must research and develop and use cleaning equipment closed, enter the full automatic mechanical of oil tank without people, replace manual cleaning, to improve crude oil recovery rate and cleaning efficiency, improve oil tank cleannes, reduce sump oil, sewage and the pollution of waste gas to environment, reduce work accident simultaneously, realize safety, healthy, environment protection-type cleaning.
Tank cleaning robot is the clear important and effective instrument of filling with of mechanization, robot can automated movement in tank, break up, cleaning or sucking-off deposit, abroad as the Moverjet Vehicle of Britain NESL company, Britain Surface Control company exploitation for cleaning the vacuum tank car of storage tank, power tool in the waterpower bull-dozer tank of the Hydrovac of Rugby industry and the exploitation of oil Services Co., Ltd, the exploitation of U.S. Petroleum Ferment company for fluidisation and spray the complete water conservancy car etc. that hits bed mud.
In recent years, a large amount of research had also been done in the domestic cleaning at tank body, inspection machine people field, and had obtained certain breakthrough.Shanghai Communications University develops a kind of robot that detects metallic oil tank volume that is specifically designed to, and Yi Bei shanghai refinery station-service is in alternative traditional manual detection at present.In addition, it is also expected to be applied to the hazardous environments such as oil storage tank, gas tank, chemical pressure container, detects a flaw, eliminates rust, sprays paint and the work such as cleaning, and it is within sight for oil storage tank tank-cleaning operation.Harbin Institute of Technology develops a kind of nuclear industry Wall Climbinginspection Robot; be mainly used in checking radioactive nucleus waste liquid storage tanks weld seam; with the leakage hidden danger finding in time to cause because of nuclear waste corrosion and remove; guarantee the safety of environment, its key technology has very large facilitation to the research of tank cleaning robot.Tianjin Enginnering Normal College and Shengli Oil Field are being developed the robot for oil storage tank cleaning cooperatively, and its key technology has obtained breakthrough.Current, the application of cleaning robot substantially concentrate on wall cleaning, pipeline cleaning, cable clean and safeguard under water, the aspect such as cleaning.As a Typical Representative in cleaning robot, the application of clear tank cleaning robot is still not extensive, but its application prospect is very wide.At present, domestic large-scale oil storage tank cleaning is gradually to mechanized cleaning transition, and for example, Daqing oil field was changed Mechanized Washing Equipment since 2003.In addition, the clear tank equipment of mechanization has all been set about upgrading by most of subsidiary/member companies of CNOOC, PetroChina Company Limited., China Petrochemical Industry.
The domestic and international research for cleaning robot automation, intelligent aspect and application are goed deep into all the more and are extensive, but, various cleaning robot of the prior art can't thoroughly clean the greasy filth in oil tank well, and exist realize cost high, use defect and the deficiencies such as operation inconvenience, security performance are good not.
Summary of the invention
Technical problem to be solved by this invention is for above-mentioned deficiency of the prior art, a kind of tank cleaning robot is provided, it is rationally novel in design, intelligent degree is high, and functional reliability is high, and security performance is good, can realize the comprehensive cleaning to oil tank, energy-conserving and environment-protective, practical, application value is high.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of tank cleaning robot, it is characterized in that: comprise body, walking unit, cleaning unit, control module and sensing communication unit, and the power supply unit that is used to described walking unit, cleaning unit, control module and the power supply of sensing communication unit;
Described body comprises base plate, be fixedly connected on the lower house of base plate top and be fixedly connected on the upper shell of lower house top;
Described walking unit comprises three driving wheels and is respectively used to drive three driving wheel hydraulic motors of three driving wheels, three described driving wheels are equilateral triangle and embed and are arranged on described base plate, three described driving wheel hydraulic motors are equilateral triangle and are laid on described base plate, the output shaft of described driving wheel and described driving wheel hydraulic motor joins, and the top of described driving wheel is set with and is connected with described base plate and for preventing that greasy filth sewage from entering into the water fender in described lower house;
Described cleaning unit consists of clearing apparatus and self-excited pulse device, described clearing apparatus comprises that three are cleaned disc brush and are respectively used to drive three to clean three cleaning disc brush hydraulic motors that disc brush is rotated, three described cleaning disc brushes are equilateral triangle and are laid in described base plate below, three described cleaning disc brush hydraulic motors are equilateral triangle and embed and are arranged on described base plate, and the output shaft of described cleaning disc brush and described cleaning disc brush hydraulic motor joins; Described self-excited pulse device comprises telescopic beam assembly, be connected with telescopic beam assembly one end and be connected with the telescopic beam assembly other end and for the self-excited oscillation pulse nozzle of injection pulse for the pulser hydraulic motor that drives telescopic beam assembly to rotate, and it is interior and be fixedly connected with lower house that described pulser hydraulic motor is arranged on lower house;
Described control module consists of Long-distance Control part and body control section, described Long-distance Control partly comprises Artificial Control module and intelligent operation module, described Artificial Control module comprises teaching console panel, first processor module and the I/O interface joining successively, and described intelligent operation module comprises data storage, the second processor module and the 2nd I/O interface joining successively, described body control section comprises controller module and the 3rd I/O interface joining with described controller module, the output of described controller module is connected to for driving the first fluid motor-driven device of driving wheel hydraulic motor, for driving, clean the second fluid motor-driven device of disc brush hydraulic motor and for the 3rd fluid motor-driven device of driving pulse device hydraulic motor, the output of described driving wheel hydraulic motor and the first fluid motor-driven device joins, the output of described cleaning disc brush hydraulic motor and the second fluid motor-driven device joins, the output of described pulser hydraulic motor and the 3rd fluid motor-driven device joins, a described I/O interface and the 2nd I/O interface all join with the 3rd I/O interface,
Described sensing communication unit comprises the pressure sensor for described tank cleaning robot is bumped and detected, for the temperature sensor that temperature in oil tank is detected, infrared sensor for tank cleaning robot described in sensing and inner wall of oil tank degree of closeness, ultrasonic sensor for tank cleaning robot described in sensing and inner wall of oil tank or obstacle distance, horizontal attitude sensor for tank cleaning robot inclination angle described in sensing, turbidity transducer for detection of cleannes at the bottom of oil tank, camera for tank cleaning robot surrounding environment described in sensing, for the searchlight that throws light on for detection of the gas concentration monitor of gas concentration in oil tank, described pressure sensor, infrared sensor and ultrasonic sensor are installed on the outer wall of described lower house, described horizontal attitude sensor and turbidity transducer are installed in the bottom of described base plate, it is inner that described temperature sensor is arranged on described upper shell, described camera, searchlight and gas concentration monitor are installed in the top of described upper shell, described pressure sensor, temperature sensor, infrared sensor, ultrasonic sensor, horizontal attitude sensor, turbidity transducer, camera and gas concentration monitor all join with the input of described controller module.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: the top of described upper shell is provided with spherical shell, described gas concentration monitor is arranged on the surface of described spherical shell, described camera and searchlight are all arranged in described spherical shell and outer being exposed on the surface of described spherical shell, in described spherical shell, be also provided with working station indicator and buzzer, described working station indicator and buzzer be outer being exposed on the surface of described spherical shell all, and described working station indicator and buzzer all join with the output of described controller module.
Above-mentioned a kind of tank cleaning robot; it is characterized in that: being shaped as of described body outline is cylindrical; the top of described upper shell is symmetrically installed with two handles; the top of described upper shell is provided with for the power pack of described power supply unit is installed; on the sidewall of described upper shell, have manhole; described manhole place is provided with manhole cover; be positioned on the upper shell of described manhole oblique upper and be provided with through hole, the top of described upper shell is symmetrically installed with two for supplement the inert gas nozzle of protectiveness inert gas in oil tank.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: described driving wheel consists of wheel carrier and the two circle rollers that are arranged side by side on described wheel carrier, described roller consists of steel skeleton and the soft rubber being wrapped in outside described steel skeleton, is laid with a plurality of cavitys chamber on described soft rubber.
Above-mentioned a kind of tank cleaning robot, is characterized in that: the brush holder support that described cleaning disc brush is joined by the output shaft with described cleaning disc brush hydraulic motor, be connected to the brush of brush holder support bottom and many bunches of bristles being arranged on brush lower surface form.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: many bunches of described bristles are spiral multi-corner star-shape and distribute on described brush lower surface, the center of the length of described bristle from the periphery of described brush to described brush reduces gradually, and described bristle consists of Bowden cable and the polyethylene layer that is wrapped in described Bowden cable surface.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: the center of described brush is one-body molded the sleeve pipe protruding upward, the center of described bristle be provided with match with described sleeve pipe and oil supply tank in greasy filth and the SS that passes through of sewage, described brush holder support comprises the bar bar that joins with the output shaft of described cleaning disc brush hydraulic motor and is arranged on described bar bottom and for being fixedly connected with the connecting rod of described sleeve pipe, on described bar, be set with the sleeve that top is fixedly connected with described base plate, on the sidewall of described sleeve, be provided with for connecting the oil pick-up tube interface of oil pick-up tube, the top of described sleeve is provided with for the clutch shaft bearing of described bar is installed, the sleeve that is positioned at described clutch shaft bearing below is provided with the first oil sealing, the bottom of described sleeve is provided with for the second bearing of described sleeve pipe is installed, the sleeve that is positioned at described the second bearing top is provided with the second oil sealing, on described base plate, be provided with the oil pumping pore passing for oil pick-up tube.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: described self-excited oscillation pulse nozzle comprises resonance chamber and be arranged on resonance chamber inner and for resonance chamber inner space being divided into the trilobed wheel of three resonators, the top center position of described resonance chamber is provided with for current being divided to the water inlet of three resonators, and the bottom of described resonance chamber is provided with three delivery ports that match with three described resonance chamber respectively.
Above-mentioned a kind of tank cleaning robot, is characterized in that: the top of described self-excited oscillation pulse nozzle is provided with and is connected with described telescopic beam assembly and for the greasy filth of inner wall of oil tank and bottom being carried out to the scraping device of spatula.
Above-mentioned a kind of tank cleaning robot, it is characterized in that: described telescopic beam assembly comprises the first extensible canopy, with hinged the second extensible canopy of described the first extensible canopy and three extensible canopy hinged with described the second extensible canopy, the bottom of described the first extensible canopy is fixedly connected with rotating disk, described rotating disk is connected on the output shaft of described pulser hydraulic motor, between described the second extensible canopy and described pulser hydraulic motor, be connected with the first hydraulically extensible cylinder, between described the second extensible canopy and described the 3rd extensible canopy, be connected with the second hydraulically extensible cylinder, described self-excited oscillation pulse nozzle is fixedly connected with the end of described the 3rd extensible canopy, the output of described controller module is connected to the second hydraulic control valve for controlling the first flexible hydraulic control valve of the first hydraulically extensible cylinder and stretching for controlling the second hydraulically extensible cylinder, described the first hydraulic control valve is connected on the oil feed line of the first hydraulically extensible cylinder, and described the second hydraulic control valve is connected on the oil feed line of the second hydraulically extensible cylinder.
The present invention compared with prior art has the following advantages:
1, the present invention adopts the driving wheel of three equilateral triangle layouts as walking mechanism, and compact conformation, flexibly mobile can make robot freely move in all directions in tank body by Long-distance Control, realizes the comprehensive cleaning to oil tank.
2, many bunches of bristles of the present invention are the distribution of spiral multi-corner star-shape on brush lower surface, the special spiral pattern layout of bristle coordinates rotation can form the negative pressure eddy current towards center, be cleaned that disc brush is cleaned loose greasy filth and sewage can be arranged in the SS of bristle center position by automatic stream under the effect of negative pressure eddy current, can easily greasy filth and sewage be extracted out, be convenient to the collection of greasy filth and sewage.
3, on body of the present invention, be provided with handle, be convenient for carrying and move, on body, have manhole, be convenient to install and maintenance.
4, in the present invention, the roller of driving wheel adopts the composite construction of steel skeleton and soft rubber, utilized bionics principle, when described tank cleaning robot walking, under the effect of gravity, soft rubber deforms, gas in a plurality of cavitys chamber is discharged and is formed negative-pressure adsorption power, make described tank cleaning robot be adsorbed on tank bottom, this kind of novel designs both can avoid at the bottom of the oil tank of driving wheel and steel direct friction to produce spark affects job safety, can make again described tank cleaning robot when work, keep good stability, and relatively common negative-pressure adsorption does not need additionaling power.
5, the self-excited pulse device in the present invention has common HVDC and cleans the cleaning performance not reaching, and saves the energy simultaneously, uses running water and without cleaning agent, can avoid secondary pollution, is beneficial to the subsequent treatment of greasy filth.
6, self-excited oscillation pulse nozzle of the present invention has the advantage of three outlets of an entrance, can form impact coverage rate, and oily tank sludge is charged and attacked, loosened and cleans, and cleaning performance is good.
7, the present invention has realized clearing apparatus, scraping device and the triple cleanings of self-excited pulse device, clearing apparatus is mainly for the tank bottom of sludge deposition, self-excited pulse device for oil tank wall or tank at the bottom of on greasy filth effectively break up and smash, scraping device is scrubbed halfway firm greasy filth for self-excited pulse water jet cleaning and disc brush, and Integral cleaning is respond well; Bristle consists of Bowden cable and the polyethylene layer that is wrapped in described Bowden cable surface, has good intensity and cleaning performance, and can avoid friction to produce spark.
8, the whole hydraulic-driven that adopts of robot in the present invention, hardware is upper has a higher safety coefficient, with the electric drive phase specific energy generally adopting reduce that electric spark occurs may.
9, the control module Ke Shi robot in the present invention is operated under Artificial Control and two kinds of patterns of intelligent operation, has improved the intelligent degree of robot work, has alleviated operating personnel's task difficulty and intensity.
10, the complete function of sensing communication unit of the present invention, can feed back in time the technical parameter in operation process, and control preferably tank cleaning robot, in time the supplementing and can guarantee the safety in operation process of inert gas, can make tank cleaning robot carry out operation under the airtight environment of whole process.
11, the present invention has adopted wired connection and control, and communication is subject to the interference of extraneous factor little, and functional reliability is high.
12, of the present invention practical, application value is high.
In sum, the present invention is rationally novel in design, and intelligent degree is high, and functional reliability is high, and security performance is good, can realize the comprehensive cleaning to oil tank, energy-conserving and environment-protective, and practical, application value is high.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is the upward view of Fig. 1.
Fig. 3 is walk unit and the installation position schematic diagram of clearing apparatus on base plate of the present invention.
Fig. 4 is the structural representation of driving wheel of the present invention.
Fig. 5 is the cross-sectional view of roller of the present invention.
Fig. 6 is the structural representation that the present invention cleans disc brush.
Fig. 7 is the annexation schematic diagram of brush holder support of the present invention, connecting rod and sleeve pipe.
Fig. 8 is camera of the present invention, searchlight, working station indicator and the buzzer installation position schematic diagram on spherical shell.
Fig. 9 is the structural representation of self-excited pulse device of the present invention.
Figure 10 is the structural representation of self-excited oscillation pulse nozzle of the present invention.
Figure 11 is the A-A view of Figure 10.
Figure 12 is the schematic block circuit diagram of control module of the present invention.
Figure 13 is use view of the present invention.
Description of reference numerals:
1-base plate; 2-1-lower house; 2-2-upper shell;
2-3-spherical shell; 3-driving wheel hydraulic motor; 4-driving wheel;
4-1-wheel carrier; 4-2-roller; 4-21-steel skeleton;
4-22-soft rubber; 4-23-cavity chamber; 5-water fender;
6-Artificial Control module; 6-1-teaching console panel; 6-2-first processor module;
6-3-one I/O interface; 7-intelligent operation module; 7-1-data storage;
7-2-the second processor module; 7-3-two I/O interface; 8-controller module;
9-cleaning disc brush; 9-1-bar bar; 9-2-brush;
9-3-bristle; 9-4-sleeve pipe; 9-5-connecting rod;
9-6-sleeve; 9-61-oil pick-up tube interface; 9-7-the second bearing;
9-8-the second oil sealing; 9-9-clutch shaft bearing; 9-10-the first oil sealing;
10-cleaning disc brush hydraulic motor; 11-SS;
12-pulser hydraulic motor; 13-self-excited oscillation pulse nozzle;
13-1-resonance chamber; 13-2-trilobed wheel; 13-3-water inlet;
13-4-delivery port; 14-1-the first extensible canopy; 14-2-the second extensible canopy;
14-3-three extensible canopy; 14-4-rotating disk; 15-1-the first hydraulically extensible cylinder;
15-2-the second hydraulically extensible cylinder; 16-scraping device; 17-pressure sensor;
18-temperature sensor; 19-infrared sensor; 20-ultrasonic sensor;
21-camera; 22-searchlight; 23-gas concentration monitor;
24-working station indicator; 25-buzzer; 26-power pack;
27-inert gas nozzle; 28-handle; 29-manhole cover;
30-through hole; 31-horizontal attitude sensor; 32-turbidity transducer;
The 33-the three I/O interface; The 34-the first fluid motor-driven device;
The 35-the second fluid motor-driven device; The 36-the three fluid motor-driven device; 37-oil pumping pore;
The 38-the first hydraulic control valve; The 39-the second hydraulic control valve; 40-oil tank;
41-tank cleaning robot; 42-water tank; 43-inertial gas tank;
44-electric hydraulic pump; 45-water pump; 46-inert gas delivery tube road;
47-inert gas motor-driven valve; 48-oil feed line; 49-water pipe;
50-flexible pipe cable roll; 51-conductive cable; 52-reel motor;
53-screw pump; 54-greasy filth stores pond.
The specific embodiment
As shown in Figure 1, Figure 2 and Figure 3, the present invention includes body, walking unit, cleaning unit, control module and sensing communication unit, and the power supply unit that is used to described walking unit, cleaning unit, control module and the power supply of sensing communication unit;
Described body comprises base plate 1, be fixedly connected on the lower house 2-1 of base plate 1 top and be fixedly connected on the upper shell 2-2 of lower house 2-1 top;
Described walking unit comprises three driving wheels 4 and is respectively used to drive three driving wheel hydraulic motors 3 of three driving wheels 4, three described driving wheels 4 are equilateral triangle and embed and are arranged on described base plate 1, three described driving wheel hydraulic motors 3 are equilateral triangle and are laid on described base plate 1, described driving wheel 4 joins with the output shaft of described driving wheel hydraulic motor 3, and the top of described driving wheel 4 is set with and is connected with described base plate 1 and for preventing that greasy filth sewage from entering into the water fender 5 in described lower house 2-1; Water fender 5 can make body airtight, avoids greasy filth sewage to enter into and in body, causes fault;
Described cleaning unit consists of clearing apparatus and self-excited pulse device, described clearing apparatus comprises that three are cleaned disc brush 9 and are respectively used to drive three to clean three cleaning disc brush hydraulic motors 10 that disc brush 9 is rotated, three described cleaning disc brushes 9 are equilateral triangle and are laid in described base plate 1 below, three described cleaning disc brush hydraulic motors 10 are equilateral triangle and embed and are arranged on described base plate 1, and described cleaning disc brush 9 is joined with the output shaft of described cleaning disc brush hydraulic motor 10; Described self-excited pulse device comprises telescopic beam assembly, be connected with telescopic beam assembly one end and be connected with the telescopic beam assembly other end and for the self-excited oscillation pulse nozzle 13 of injection pulse for the pulser hydraulic motor 12 that drives telescopic beam assembly to rotate, and it is interior and be fixedly connected with lower house 2-1 that described pulser hydraulic motor 12 is arranged on lower house 2-1;
Described control module consists of Long-distance Control part and body control section, described Long-distance Control partly comprises Artificial Control module 6 and intelligent operation module 7, described Artificial Control module 6 comprises teaching console panel 6-1, first processor module 6-2 and an I/O interface 6-3 who joins successively, and described intelligent operation module 7 comprises data storage 7-1, the second processor module 7-2 and the 2nd I/O interface 7-3 joining successively, described body control section comprises controller module 8 and the 3rd I/O interface 33 joining with described controller module 8, the output of described controller module 8 is connected to for driving the first fluid motor-driven device 34 of driving wheel hydraulic motor 3, for driving, clean the second fluid motor-driven device 35 of disc brush hydraulic motor 10 and for the 3rd fluid motor-driven device 36 of driving pulse device hydraulic motor 12, the output of described driving wheel hydraulic motor 3 and the first fluid motor-driven device 34 joins, the output of described cleaning disc brush hydraulic motor 10 and the second fluid motor-driven device 35 joins, the output of described pulser hydraulic motor 12 and the 3rd fluid motor-driven device 36 joins, a described I/O interface 6-3 and the 2nd I/O interface 7-3 all join with the 3rd I/O interface 33, Artificial Control module 6 and 7 parallel connections of intelligent operation module, can make described tank cleaning robot 41 be operated under Artificial Control and two kinds of patterns of intelligent operation, so that the more rest of staff gap to be provided, alleviated working strength, improved intellectuality, under Artificial Control pattern, staff can send action command to described tank cleaning robot 41 by operation teaching console panel 6-1, under intelligent operation pattern, the tank cleaning robot 41 that the second processor module 7-2 can feed back according to described body control section duty at that time, sends next step action command from trend tank cleaning robot 41.During concrete enforcement, first processor module 6-2 and the second processor module 7-2 can adopt single-chip microcomputer to realize, and controller module 8 can adopt programmable logic controller (PLC) to realize.
Described sensing communication unit comprises the pressure sensor 17 for described tank cleaning robot 41 is bumped and detected, for the temperature sensor 18 that the interior temperature of oil tank 40 is detected, infrared sensor 19 for tank cleaning robot described in sensing 41 with oil tank 40 inwall degrees of closeness, ultrasonic sensor 20 for tank cleaning robot described in sensing 41 with oil tank 40 inwalls or obstacle distance, horizontal attitude sensor 31 for tank cleaning robot 41 inclination angles described in sensing, turbidity transducer 32 for detection of cleannes at the bottom of oil tank 40 tanks, camera 21 for tank cleaning robot 41 surrounding environment described in sensing, for the searchlight 22 that throws light on for detection of the gas concentration monitor 23 of oil tank 40 interior gas concentrations, described pressure sensor 17, infrared sensor 19 and ultrasonic sensor 20 are installed on the outer wall of described lower house 2-1, described horizontal attitude sensor 31 and turbidity transducer 32 are installed in the bottom of described base plate 1, it is inner that described temperature sensor 18 is arranged on described upper shell 2-2, described camera 21, searchlight 22 and gas concentration monitor 23 are installed in the top of described upper shell 2-2, described pressure sensor 17, temperature sensor 18, infrared sensor 19, ultrasonic sensor 20, horizontal attitude sensor 31, turbidity transducer 32, camera 21 and gas concentration monitor 23 all join with the input of described controller module 8.During concrete enforcement, described horizontal attitude sensor 31 is arranged on to the center bottom of described base plate 1.Four described pressure sensors 17 are set.Described driving wheel hydraulic motor 3 and described cleaning disc brush hydraulic motor 10 intervals are intersected to laying, non-interference.Described body control section and temperature sensor 18 are integrated in control box, and described control box is arranged in upper shell 2-2.Sensing communication unit can be guaranteed the normal operation of described tank cleaning robot 41 and guarantee the safety of operation process.
In conjunction with Fig. 8, in the present embodiment, the top of described upper shell 2-2 is provided with spherical shell 2-3, described gas concentration monitor 23 is arranged on the surface of described spherical shell 2-3, described camera 21 and searchlight 22 are all arranged in described spherical shell 2-3 and outer being exposed on the surface of described spherical shell 2-3, in described spherical shell 2-3, be also provided with working station indicator 24 and buzzer 25, described working station indicator 24 and buzzer 25 be outer being exposed on the surface of described spherical shell 2-3 all, described working station indicator 24 and buzzer 25 all join with the output of described controller module 8.
Wherein, spherical shell 2-3 has formed the head of described tank cleaning robot 41, during specific implementation, searchlight 22 is arranged to two and be arranged on the middle and upper part of spherical shell 2-3, similar people's eyes; Working station indicator 24 is arranged on to the middle part of spherical shell 2-3, similar people's nose, selects CCD camera by camera 21 and is arranged on the middle and lower part of spherical shell 2-3, similar people's face.
In the present embodiment; being shaped as of described body outline is cylindrical; the top of described upper shell 2-2 is symmetrically installed with two handles 28; the top of described upper shell 2-2 is provided with for the power pack 26 of described power supply unit is installed; on the sidewall of described upper shell 2-2, have manhole; described manhole place is provided with manhole cover 29; be positioned on the upper shell 2-2 of described manhole oblique upper and be provided with through hole 30, the top of described upper shell 2-2 is symmetrically installed with two for the inert gas nozzle 27 to the interior supplementary protectiveness inert gas of oil tank 40.
In conjunction with Fig. 4 and Fig. 5, in the present embodiment, described driving wheel 4 consists of wheel carrier 4-1 and the two circle roller 4-2 that are arranged side by side on described wheel carrier 4-1, described roller 4-2 consists of steel skeleton 4-21 and the soft rubber 4-22 being wrapped in outside described steel skeleton 4-21, is laid with a plurality of cavitys chamber 4-23 on described soft rubber 4-22.Described roller 4-2 adopts the composite construction of steel skeleton 4-21 and soft rubber 4-22, utilized bionics principle, when described tank cleaning robot 41 walking, under the effect of gravity, soft rubber 4-22 deforms, gas in a plurality of cavitys chamber 4-23 is discharged and is formed negative-pressure adsorption power, make described tank cleaning robot 41 be adsorbed on oil tank 40 bottoms, this kind of novel designs both can avoid at the bottom of oil tank 40 tanks of driving wheel 4 and steel direct friction to produce spark affect job safety, can make again described tank cleaning robot 41 when working, keep good stability.
In conjunction with Fig. 6 and Fig. 7, in the present embodiment, the brush holder support that described cleaning disc brush 9 is joined by the output shaft with described cleaning disc brush hydraulic motor 10, be connected to the brush 9-2 of brush holder support bottom and many bunches of bristle 9-3 being arranged on brush 9-2 lower surface form.Many bunches of described bristle 9-3 are spiral multi-corner star-shape and distribute on described brush 9-2 lower surface, the length of described bristle 9-3 reduces to described brush 9-2 center gradually from the periphery of described brush 9-2, and described bristle 9-3 consists of Bowden cable and the polyethylene layer that is wrapped in described Bowden cable surface.Described brush 9-2 center is one-body molded the sleeve pipe 9-4 protruding upward, described bristle 9-3 center be provided with match with described sleeve pipe 9-4 and oil supply tank 40 in greasy filth and the SS 11 that passes through of sewage, described brush holder support comprises the bar bar 9-1 that joins with the output shaft of described cleaning disc brush hydraulic motor 10 and is arranged on described bar 9-1 bottom and for being fixedly connected with the connecting rod 9-5 of described sleeve pipe 9-4, on described bar 9-1, be set with the sleeve 9-6 that top is fixedly connected with described base plate 1, on the sidewall of described sleeve 9-6, be provided with for connecting the oil pick-up tube interface 9-61 of oil pick-up tube, the top of described sleeve 9-6 is provided with for the clutch shaft bearing 9-9 of described bar 9-1 is installed, the sleeve 9-6 that is positioned at described clutch shaft bearing 9-9 below is provided with the first oil sealing 9-10, the bottom of described sleeve 9-6 is provided with for the second bearing 9-7 of described sleeve pipe 9-4 is installed, the sleeve 9-6 that is positioned at described the second bearing 9-7 top is provided with the second oil sealing 9-8, on described base plate 1, be provided with the oil pumping pore 37 passing for oil pick-up tube.During concrete enforcement, the quantity of connecting rod 9-5 is three and is evenly distributed in described bar 9-1 bottom.While cleaning described bar 9-1 rotation of disc brush hydraulic motor 10 drive, described bar 9-1 drives brush 9-2 and bristle 9-3 to rotate by connecting rod 9-5, and sleeve 9-6 maintenance is motionless, the special spiral pattern layout of bristle 9-3 coordinates rotation can form the negative pressure eddy current towards center, being cleaned loose greasy filth and the sewage of disc brush 9 cleaning can be arranged in the SS 11 of bristle 9-3 center position by automatic stream under the effect of negative pressure eddy current, and enter into sleeve pipe 9-4 through SS 11, the greasy filth and the sewage that enter into sleeve pipe 9-4 pass the gap between three connecting rod 9-5 and enter in sleeve 9-6, by connect oil pick-up tube on oil pick-up tube interface 9-61, can easily greasy filth and sewage be extracted out, be convenient to the collection of greasy filth and sewage.Described bristle 9-3 consists of Bowden cable and the polyethylene layer that is wrapped in described Bowden cable surface, has good intensity and cleaning performance.
In conjunction with Figure 10 and Figure 11, in the present embodiment, described self-excited oscillation pulse nozzle 13 comprises resonance chamber 13-1 and is arranged on resonance chamber 13-1 inner and for resonance chamber 13-1 inner space being divided into the trilobed wheel 13-2 of three resonators, the top center position of described resonance chamber 13-1 is provided with for current being divided to the water inlet 13-3 to three resonators, and the bottom of described resonance chamber 13-1 is provided with three delivery port 13-4 that match with three described resonance chamber 13-1 respectively.The top of described self-excited oscillation pulse nozzle 13 is provided with and is connected with described telescopic beam assembly and for the greasy filth of oil tank 40 inwalls and bottom being carried out to the scraping device 16 of spatula.When current are from water inlet 13-3 enters, enter respectively three resonance chamber 13-1 and form by three delivery port 13-4 the face of charging and attacking, the interior greasy filth of oil tank 40 is charged and attacked, loosened and cleans, make the present invention not need to add any chemical agent, use running water can realize cleaning, prevent from polluting, and be beneficial to recovery and the subsequent treatment of greasy filth.During concrete enforcement, the material of scraping device 16 is the plastics of high strength and hardness, prevents from producing spark with oil tank 40 sidewalls or bottom friction in the process of work.
In conjunction with Fig. 9, in the present embodiment, described telescopic beam assembly comprises the first extensible canopy 14-1, with hinged the second extensible canopy 14-2 of described the first extensible canopy 14-1 and the three extensible canopy 14-3 hinged with described the second extensible canopy 14-2, the bottom of described the first extensible canopy 14-1 is fixedly connected with rotating disk 14-4, described rotating disk 14-4 is connected on the output shaft of described pulser hydraulic motor 12, between described the second extensible canopy 14-2 and described pulser hydraulic motor 12, be connected with the first hydraulically extensible cylinder 15-1, between described the second extensible canopy 14-2 and described the 3rd extensible canopy 14-3, be connected with the second hydraulically extensible cylinder 15-2, described self-excited oscillation pulse nozzle 13 is fixedly connected with the end of described the 3rd extensible canopy 14-3, the output of described controller module 8 is connected to the second hydraulic control valve 39 for controlling the first flexible hydraulic control valve 38 of the first hydraulically extensible cylinder 15-1 and stretching for controlling the second hydraulically extensible cylinder 15-2, described the first hydraulic control valve 38 is connected on the oil feed line of the first hydraulically extensible cylinder 15-1, and described the second hydraulic control valve 39 is connected on the oil feed line of the second hydraulically extensible cylinder 15-2.During concrete enforcement, described the second extensible canopy 14-2 is hinged by cylindrical hinge and described the first extensible canopy 14-1, and described the 3rd extensible canopy 14-3 is hinged by cylindrical hinge and described the second extensible canopy 14-2.Described pulser hydraulic motor 12 acts on the bottom of self-excited pulse device, drive the unitary rotation of self-excited pulse device, that has realized self-excited oscillation pulse nozzle 13 axially looks about injection, and described the first hydraulically extensible cylinder 15-1 and the second hydraulically extensible cylinder 15-2 are for adjusting the angle and distance of self-excited oscillation pulse nozzle 13 injection pulses.The pitching anglec of rotation during work of self-excited pulse device is 120 °, and horizontally rotating angle is 120 °, can form larger work area coverage.When running into harder greasy filth, can change by controlling the angle of pitch of telescopic beam assembly and the angle of feathering angle the spatula that utilizes scraping device 16 to implement oil tank 40 sidewalls and bottom greasy filth.
While using the present invention to clean the interior greasy filth of oil tank 40, first, be ready to described tank cleaning robot 41 and need external electric hydraulic pump 44, water tank 42, inertial gas tank 43, screw pump 53 and greasy filth store pond 54, on water tank 42, connect and be used to tank cleaning robot 41 that the water pump 45 that cleans current is provided, on inertial gas tank 43, connect inert gas delivery tube road 46, and on inert gas delivery tube road 46, connect for regulating the inert gas motor-driven valve 47 of inert gas delivery tube road 46 inert gas flows, on screw pump 53, connect and extend into greasy filth and store the oil pick-up tube in pond 54, and on screw pump 53, connect the oil pick-up tube extend into oil tank 40 bottoms, and screw pump 53 is connected on the oil pick-up tube interface 9-61 of three cleaning disc brushes 9 by the oil pick-up tube through oil pumping pore 37 and through hole 30, then, by three driving wheel hydraulic motors 3, three are cleaned disc brush hydraulic motor 10, pulser hydraulic motor 12, the first hydraulically extensible cylinder 15-1 is connected with electric hydraulic pump 44 by the oil feed line 48 through through hole 30 with the second hydraulically extensible cylinder 15-2, water inlet 13-3 on self-excited oscillation pulse nozzle is connected with water pump 45 by the water pipe 49 through through hole 30, inert gas delivery tube road 46 is passed to through hole and is connected in inert gas nozzle 27, wherein, connect on the oil feed line 48 of the first hydraulically extensible cylinder 15-1 and be connected with the first hydraulic control valve 38, connect on the oil feed line 48 of the second hydraulically extensible cylinder and be connected with the second hydraulic control valve 39, then, electric hydraulic pump 44, water pump 45, screw pump 53, inert gas motor-driven valve 47, the first hydraulic control valve 38, the second hydraulic control valve 39 are connected on another controller that joins with described controller module 8 and communicate by letter of peripheral hardware, or are directly connected on described controller module 8, finally, described tank cleaning robot 41 is put into oil tank 40, by operator's work control module 6 or intelligent operation module 7 to described tank cleaning robot 41 transmit operation instructions, make described tank cleaning robot 41 mobile working in oil tank 40, described tank cleaning robot 41 is found out the greasy filth in oil tank 40 by camera 21 and illuminating lamp 22, first by self-excited pulse device, the greasy filth at a position is carried out that pulsing jet charges and attacks or spatula, after greasy filth is loose, with clearing apparatus, carry out profound scrubbing, after a position cleans up, Artificial Control tank cleaning robot 41 or tank cleaning robot 41 intelligent mobiles carry out washing and cleaning operation to the next position of cleaning that needs, greasy and the sewage cleaning can be extracted out by oil pick-up tube and screw pump 53 at any time, so, just, can complete easily the cleaning to whole oil tank 40 interior greasy filth.
Described tank cleaning robot 41 is in carrying out the process of cleaning, described pressure sensor 17 can detect the situation that described tank cleaning robot 41 bumps, 18 pairs of interior temperature of oil tank 40 of described temperature sensor detect in real time, described infrared sensor 19 can sensing described in the degree of closeness of tank cleaning robot 41 and oil tank 40 inwalls, described ultrasonic sensor 20 can sensing described in the distance of tank cleaning robot 41 and oil tank 40 inwalls or barrier, described horizontal attitude sensor 31 can sensing described in the inclination angle of tank cleaning robot 41, prevent to topple over and turn on one's side, turbidity transducer 32 for detection of oil tank 40 tanks at the bottom of cleannes, avoid the repetition in 41 pairs of regions of described tank cleaning robot to clean for a long time, camera 21 can be used as tank cleaning robot 41 environment around described in the vision sensing of described tank cleaning robot 41, searchlight 22 provides illumination under the environment of dark or insufficient light, gas concentration monitor 23 detects the interior gas concentration of oil tank 40 in real time, described controller module 8 gathers pressure sensor 17, temperature sensor 18, infrared sensor 19, ultrasonic sensor 20, horizontal attitude sensor 31, turbidity transducer 32, camera 21 and the detected signal of gas concentration monitor 23 and carry out analyzing and processing after the washing and cleaning operation of described tank cleaning robot 41 is controlled.Particularly, by coordinating the type of drive of three driving wheel hydraulic motors 3, can realize the Omni-mobile of described tank cleaning robot 41, make described tank cleaning robot 41 work flexibly mobile, when controlling the synchronization of any two driving wheels 4 wherein, described tank cleaning robot 41 moves the axis direction straight line moving along another one driving wheel 4, simultaneously synchronized clockwise or while rotating counterclockwise when controlling three driving wheels 4, can realize described tank cleaning robot 41 along the original place rotation of its geometric center, by controlling three, clean disc brush hydraulic motors 10, can regulate and clean the rotating speed of disc brush 9 and the size of moment according to the feature of operation needs and greasy filth, by the rotation of control impuls device hydraulic motor 12, can change job position and the direction of self-excited oscillation pulse nozzle 13, described controller module 8 can also be according to the gas concentration in the detected oil tank 40 of gas concentration monitor 23, regulate the aperture of inert gas motor-driven valve 47, control passing into of inert gas, when the safety coefficient in gas concentration monitor 23 detects oil tank 40 does not meet the demands, strengthen the intake of inert gas, by inert gas nozzle 27, supplement in time protectiveness inert gas, guarantee that described tank cleaning robot 41 works long hours accurate, stablize and safety.
For when described tank cleaning robot 41 mobile working, make oil feed line 48, can arrange in good order in water pipe 49 and inert gas delivery tube road 46, a flexible pipe cable roll 50 can be set, and on flexible pipe cable roll 50, connect one for driving the reel motor 52 of flexible pipe cable roll 50 rotations, in the position that need to be wound into flexible pipe cable roll 50, by oil feed line 48, water pipe 49, inert gas delivery tube road 46 and oil pick-up tube put together and are contained in an extra heavy pipe, be wrapped on flexible pipe cable roll 50 and through through hole and be connected with each parts in described tank cleaning robot 41, reel motor 52 is connected on another controller that joins with described controller module 8 and communicate by letter of peripheral hardware by conductive cable 51, or directly by conductive cable 51, be connected on described controller module 8, controlling according to actual needs reel motor 52 drives flexible pipe cable roll 50 to rotate, adjust oil feed line 48, water pipe 49, the length of inert gas delivery tube road 46 and conductive cable 51, in order to avoid affect movement and the work of described tank cleaning robot 41.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every any simple modification of above embodiment being done according to the technology of the present invention essence, change and equivalent structure change, and all still belong in the protection domain of technical solution of the present invention.
Claims (10)
1. a tank cleaning robot, comprises body, walking unit, cleaning unit, control module and sensing communication unit, and the power supply unit that is used to described walking unit, cleaning unit, control module and the power supply of sensing communication unit; It is characterized in that:
Described body comprises base plate (1), be fixedly connected on the lower house (2-1) of base plate (1) top and be fixedly connected on the upper shell (2-2) above lower house (2-1);
Described walking unit comprises three driving wheels (4) and is respectively used to drive three driving wheel hydraulic motors (3) of three driving wheels (4), three described driving wheels (4) are equilateral triangle and embed and are arranged on described base plate (1), three described driving wheel hydraulic motors (3) are equilateral triangle and are laid on described base plate (1), described driving wheel (4) joins with the output shaft of described driving wheel hydraulic motor (3), the top of described driving wheel (4) is set with and is connected with described base plate (1) and for preventing that greasy filth sewage from entering into the water fender (5) in described lower house (2-1),
Described cleaning unit consists of clearing apparatus and self-excited pulse device, described clearing apparatus comprises that three are cleaned disc brush (9) and are respectively used to drive three to clean three cleaning disc brush hydraulic motors (10) that disc brush (9) is rotated, three described cleaning disc brushes (9) are equilateral triangle and are laid in described base plate (1) below, three described cleaning disc brush hydraulic motors (10) are equilateral triangle and embed that to be arranged on described base plate (1) upper, and described cleaning disc brush (9) is joined with the output shaft of described cleaning disc brush hydraulic motor (10); Described self-excited pulse device comprises telescopic beam assembly, be connected with telescopic beam assembly one end and be connected with the telescopic beam assembly other end and for the self-excited oscillation pulse nozzle (13) of injection pulse for the pulser hydraulic motor (12) that drives telescopic beam assembly to rotate, and it is interior and be fixedly connected with lower house (2-1) that described pulser hydraulic motor (12) is arranged on lower house (2-1);
Described control module consists of Long-distance Control part and body control section, described Long-distance Control partly comprises Artificial Control module (6) and intelligent operation module (7), described Artificial Control module (6) comprises teaching console panel (6-1), first processor module (6-2) and the I/O interface (6-3) joining successively, and described intelligent operation module (7) comprises data storage (7-1), the second processor module (7-2) and the 2nd I/O interface (7-3) joining successively, described body control section comprises controller module (8) and the 3rd I/O interface (33) joining with described controller module (8), the output of described controller module (8) is connected to for driving the first fluid motor-driven device (34) of driving wheel hydraulic motor (3), be used for driving and clean the second fluid motor-driven device (35) of disc brush hydraulic motor (10) and for the 3rd fluid motor-driven device (36) of driving pulse device hydraulic motor (12), described driving wheel hydraulic motor (3) joins with the output of the first fluid motor-driven device (34), described cleaning disc brush hydraulic motor (10) joins with the output of the second fluid motor-driven device (35), described pulser hydraulic motor (12) joins with the output of the 3rd fluid motor-driven device (36), a described I/O interface (6-3) and the 2nd I/O interface (7-3) all join with the 3rd I/O interface (33),
Described sensing communication unit comprises the pressure sensor (17) for described tank cleaning robot (41) is bumped and detected, for the temperature sensor (18) that the interior temperature of oil tank (40) is detected, infrared sensor (19) for tank cleaning robot (41) described in sensing with oil tank (40) inwall degree of closeness, ultrasonic sensor (20) for tank cleaning robot (41) described in sensing with oil tank (40) inwall or obstacle distance, horizontal attitude sensor (31) for tank cleaning robot (41) inclination angle described in sensing, turbidity transducer (32) for detection of cleannes at the bottom of oil tank (40) tank, camera (21) for tank cleaning robot (41) surrounding environment described in sensing, for the searchlight (22) that throws light on for detection of the gas concentration monitor (23) of the interior gas concentration of oil tank (40), described pressure sensor (17), infrared sensor (19) and ultrasonic sensor (20) are installed on the outer wall of described lower house (2-1), described horizontal attitude sensor (31) and turbidity transducer (32) are installed in the bottom of described base plate (1), described temperature sensor (18) is arranged on described upper shell (2-2) inside, described camera (21), searchlight (22) and gas concentration monitor (23) are installed in the top of described upper shell (2-2), described pressure sensor (17), temperature sensor (18), infrared sensor (19), ultrasonic sensor (20), horizontal attitude sensor (31), turbidity transducer (32), camera (21) and gas concentration monitor (23) all join with the input of described controller module (8).
2. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: the top of described upper shell (2-2) is provided with spherical shell (2-3), described gas concentration monitor (23) is arranged on the surface of described spherical shell (2-3), described camera (21) and searchlight (22) are all arranged in described spherical shell (2-3) and outer being exposed on the surface of described spherical shell (2-3), in described spherical shell (2-3), be also provided with working station indicator (24) and buzzer (25), described working station indicator (24) and buzzer (25) be outer being exposed on the surface of described spherical shell (2-3) all, described working station indicator (24) and buzzer (25) all join with the output of described controller module (8).
3. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: being shaped as of described body outline is cylindrical, the top of described upper shell (2-2) is symmetrically installed with two handles (28), the top of described upper shell (2-2) is provided with the power pack (26) for described power supply unit is installed, on the sidewall of described upper shell (2-2), have manhole, described manhole place is provided with manhole cover (29), be positioned on the upper shell (2-2) of described manhole oblique upper and be provided with through hole (30), the top of described upper shell (2-2) is symmetrically installed with two for supplement the inert gas nozzle (27) of protectiveness inert gas in oil tank (40).
4. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: described driving wheel (4) is by wheel carrier (4-1) and be arranged side by side two circle rollers (4-2) formations on described wheel carrier (4-1), described roller (4-2) is by steel skeleton (4-21) and be wrapped in outer soft rubber (4-22) formation of described steel skeleton (4-21), is laid with a plurality of cavitys chamber (4-23) on described soft rubber (4-22).
5. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: the brush holder support that described cleaning disc brush (9) is joined by the output shaft with described cleaning disc brush hydraulic motor (10), the brush (9-2) that is connected to brush holder support bottom and the many bunches of bristles (9-3) that are arranged on brush (9-2) lower surface form.
6. according to a kind of tank cleaning robot claimed in claim 5, it is characterized in that: many bunches of described bristles (9-3) are spiral multi-corner star-shape and distribute on described brush (9-2) lower surface, the center of the length of described bristle (9-3) from the periphery of described brush (9-2) to described brush (9-2) reduces gradually, and described bristle (9-3) consists of Bowden cable and the polyethylene layer that is wrapped in described Bowden cable surface.
7. according to a kind of tank cleaning robot described in claim 5 or 6, it is characterized in that: the center of described brush (9-2) is one-body molded the sleeve pipe (9-4) protruding upward, the center of described bristle (9-3) be provided with match with described sleeve pipe (9-4) and oil supply tank (40) in greasy filth and the SS (11) that passes through of sewage, described brush holder support comprises the bar bar (9-1) that joins with the output shaft of described cleaning disc brush hydraulic motor (10) and is arranged on described bar (9-1) bottom and for being fixedly connected with the connecting rod (9-5) of described sleeve pipe (9-4), on described bar (9-1), be set with the sleeve (9-6) that top is fixedly connected with described base plate (1), on the sidewall of described sleeve (9-6), be provided with for connecting the oil pick-up tube interface (9-61) of oil pick-up tube, the top of described sleeve (9-6) is provided with for the clutch shaft bearing (9-9) of described bar (9-1) is installed, the sleeve (9-6) that is positioned at described clutch shaft bearing (9-9) below is provided with the first oil sealing (9-10), the bottom of described sleeve (9-6) is provided with for second bearing (9-7) of described sleeve pipe (9-4) is installed, the sleeve (9-6) that is positioned at described the second bearing (9-7) top is provided with the second oil sealing (9-8), on described base plate (1), be provided with the oil pumping pore (37) passing for oil pick-up tube.
8. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: described self-excited oscillation pulse nozzle (13) comprises resonance chamber (13-1) and be arranged on resonance chamber (13-1) inner and for resonance chamber (13-1) inner space being divided into the trilobed wheel (13-2) of three resonators, the top center position of described resonance chamber (13-1) is provided with for current being divided to the water inlet (13-3) to three resonators, the bottom of described resonance chamber (13-1) is provided with three delivery ports (13-4) that match with three described resonance chamber (13-1) respectively.
9. according to a kind of tank cleaning robot claimed in claim 1, it is characterized in that: the top of described self-excited oscillation pulse nozzle (13) is provided with and is connected with described telescopic beam assembly and for the greasy filth of oil tank (40) inwall and bottom being carried out to the scraping device (16) of spatula.
10. according to a kind of tank cleaning robot described in claim 1 or 9, it is characterized in that: described telescopic beam assembly comprises the first extensible canopy (14-1), with hinged the second extensible canopy (14-2) of described the first extensible canopy (14-1) and three extensible canopy (14-3) hinged with described the second extensible canopy (14-2), the bottom of described the first extensible canopy (14-1) is fixedly connected with rotating disk (14-4), described rotating disk (14-4) is connected on the output shaft of described pulser hydraulic motor (12), between described the second extensible canopy (14-2) and described pulser hydraulic motor (12), be connected with the first hydraulically extensible cylinder (15-1), between described the second extensible canopy (14-2) and described the 3rd extensible canopy (14-3), be connected with the second hydraulically extensible cylinder (15-2), described self-excited oscillation pulse nozzle (13) is fixedly connected with the end of described the 3rd extensible canopy (14-3), the output of described controller module (8) is connected to for controlling flexible the first hydraulic control valve (38) of the first hydraulically extensible cylinder (15-1) and for controlling flexible the second hydraulic control valve (39) of the second hydraulically extensible cylinder (15-2), described the first hydraulic control valve (38) is connected on the oil feed line of the first hydraulically extensible cylinder (15-1), and described the second hydraulic control valve (39) is connected on the oil feed line of the second hydraulically extensible cylinder (15-2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210284715.5A CN102764750B (en) | 2012-08-12 | 2012-08-12 | Oil tank cleaning robot |
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| CN201210284715.5A CN102764750B (en) | 2012-08-12 | 2012-08-12 | Oil tank cleaning robot |
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| CN102764750B true CN102764750B (en) | 2014-02-26 |
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| CN201210284715.5A Expired - Fee Related CN102764750B (en) | 2012-08-12 | 2012-08-12 | Oil tank cleaning robot |
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| US4770711A (en) * | 1984-08-24 | 1988-09-13 | Petroleum Fermentations N.V. | Method for cleaning chemical sludge deposits of oil storage tanks |
| US5561883A (en) * | 1994-09-15 | 1996-10-08 | Landry; Kenneth C. | Tank cleaning system using remotely controlled robotic vehicle |
| CN101214489A (en) * | 2008-01-14 | 2008-07-09 | 颜鹏 | Device for cleaning tank |
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| JPS6397487A (en) * | 1986-10-13 | 1988-04-28 | Ishikawajima Harima Heavy Ind Co Ltd | Tank cleaning device |
| US5269041A (en) * | 1990-06-13 | 1993-12-14 | Allen Henry W | Remote controlled sludge removal apparatus |
| JP2001029909A (en) * | 1999-07-27 | 2001-02-06 | Miyata Kogyo Kk | Robot for agitating/transferring/cleaning sludge in tank for petroleum, etc. |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4770711A (en) * | 1984-08-24 | 1988-09-13 | Petroleum Fermentations N.V. | Method for cleaning chemical sludge deposits of oil storage tanks |
| US5561883A (en) * | 1994-09-15 | 1996-10-08 | Landry; Kenneth C. | Tank cleaning system using remotely controlled robotic vehicle |
| CN101214489A (en) * | 2008-01-14 | 2008-07-09 | 颜鹏 | Device for cleaning tank |
Also Published As
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| CN102764750A (en) | 2012-11-07 |
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