A device for automatically removing oil residues in an oil tank and a cleaning method thereof

Abstract

This invention provides a fully automatic device and method for removing oil sludge from oil tanks. The device includes a frame, a crank-adjustable grinding mechanism, a reciprocating linear grinding mechanism, a swing-type cleaning mechanism, a liquid nitrogen spraying device, an oil sludge collection device, and a traveling mechanism. The crank-adjustable grinding mechanism is installed at the front of the frame to perform a primary grinding of the oil tank; the reciprocating linear grinding mechanism is installed in the middle of the frame to perform a secondary grinding of the oil tank; the swing-type cleaning mechanism is installed at the end of the frame to clean and remove the oil sludge after the two grinding processes; the oil sludge collection device is installed at the end of the frame and connected to the swing-type cleaning mechanism to collect the cleaned oil sludge; the liquid nitrogen spraying device is installed at the top of the frame to spray liquid nitrogen; and the traveling mechanism is installed below the frame to drive the entire device. This invention cools and embrittles the oil sludge by spraying liquid nitrogen inside the oil tank, and then rapidly grinds the oil sludge using the fully automatic grinding mechanism, offering advantages such as automation, high efficiency, and reduced labor costs.

Description

Technical Field

[0001] This invention relates to the field of oil tank sludge removal technology, and more particularly to a fully automatic oil sludge removal device and cleaning method for oil tanks. Background Technology

[0002] Oil tanks are typically used for storage and transportation to facilitate the transport of oil. However, after long-term use, oil tanks will always have asphalt-like oil residue, which not only affects the secondary use of the oil tanks but also reduces their service life.

[0003] Currently, oil residue in oil tanks is mainly removed manually, which is inefficient. Furthermore, the sealed oil tanks are prone to oxygen deficiency, and the volatile gases can easily cause harm to the human body. Therefore, given the current situation where it is difficult to clean the asphalt-like oil residue remaining in oil tanks, there is a need for a fully automatic oil residue removal device for oil tanks. Summary of the Invention

[0004] To address the aforementioned technical problem of ineffective manual cleaning of oil tanks, this invention provides a fully automated device and method for removing oil sludge from oil tanks. The invention primarily utilizes a collision sensor to control a Mecanum wheel, allowing the device to move and turn freely within the oil tank without collision; a crank-operated adjustable grinding mechanism performs the first grinding; a reciprocating linear grinding mechanism performs the second grinding; a swing-type cleaning mechanism addresses the issue of oil sludge removal; and a liquid nitrogen spraying device rapidly cools and brittles the oil sludge and asphalt within the tank, facilitating their breakage and achieving highly efficient removal of oil sludge and asphalt.

[0005] The technical means employed in this invention are as follows:

[0006] An automated oil sludge removal device for oil tanks includes: a frame, a crank-adjustable grinding mechanism, a reciprocating linear grinding mechanism, a swing cleaning mechanism, a liquid nitrogen spraying device, an oil sludge collection device, and a traveling mechanism. The crank-adjustable grinding mechanism is installed at the front of the frame for primary grinding of the oil tank; the reciprocating linear grinding mechanism is installed in the middle of the frame for secondary grinding of the oil tank; the swing cleaning mechanism is installed at the end of the frame for cleaning and removing the oil sludge after the two grinding processes; the oil sludge collection device is installed at the end of the frame and connected to the swing cleaning mechanism for collecting the cleaned oil sludge; the liquid nitrogen spraying device is installed at the upper end of the frame for spraying liquid nitrogen; and the traveling mechanism is installed below the frame for driving the entire device to move inside the tank.

[0007] Furthermore, the crank-swing adjustable polishing mechanism includes a brush roller, a rotating mechanism, a swinging mechanism, and a moving mechanism. The moving mechanism is mounted on the frame, the swinging mechanism is connected to the moving mechanism, the rotating mechanism is connected to the swinging mechanism, and the brush roller is connected to the rotating mechanism.

[0008] Furthermore, the moving mechanism includes two fifth spur gears, two screws, and two second motors. The two second motors are all mounted on the frame. The output ends of the two second motors are respectively connected to the two fifth spur gears. The two screws are respectively connected to the internal meshing transmission of the two fifth spur gears. The lower ends of the two screws are connected to the first connecting rod. The two ends of the first connecting rod are placed in the vertical slots opened on both sides of the frame.

[0009] The swing mechanism includes a guide rod, a wheel, a first motor, two fixed rods, and two spring dampers. The first motor is mounted on the frame, and its output end is connected to the wheel. The wheel has an eccentric front rod. The upper end of the guide rod is connected to a first connecting rod. The guide rod has a groove, and the front rod is fitted into the groove, reciprocating within it. The frame has a transverse slot, through which the guide rod passes and swings reciprocally. The lower end of the guide rod is fixed to a second connecting rod, and both ends of the second connecting rod are connected to two fixed rods, each with a spring damper installed on it.

[0010] The rotating mechanism includes two third motors and two chains. The two third motors are respectively installed at the lower ends of two fixed rods. The output ends of the two third motors are respectively connected to one end of the two chains. The other ends of the two chains are connected to both ends of the brush roller, and the two ends of the brush roller are rotatably connected to the two fixed rods.

[0011] Furthermore, the reciprocating linear grinding mechanism includes a drive mechanism and at least one set of grinding mechanisms. The grinding mechanism includes a grinding machine and a transmission mechanism. The drive mechanism is mounted on the frame, the transmission mechanism is connected to the drive mechanism, and the grinding machine is connected to the transmission mechanism. The transmission mechanism is used to realize the linear reciprocating motion of the grinding machine.

[0012] Furthermore, the drive mechanism includes a fourth motor, a first spur gear, a second spur gear, and a first connecting shaft. The fourth motor and the first connecting shaft are both mounted on the frame. The output end of the fourth motor is connected to the first spur gear. The first spur gear and the second spur gear are meshed and connected for transmission. The second spur gear is mounted on the first connecting shaft.

[0013] The transmission mechanism includes a first bevel gear, a second bevel gear, a second connecting shaft, a third bevel gear, a fourth bevel gear, a third connecting shaft, a third spur gear, a fourth spur gear, a connecting rod, and a slide rod. The first bevel gear is mounted on the first connecting shaft and is coaxial with the second spur gear. The second bevel gear is mounted on the second connecting shaft and meshes with the first bevel gear for transmission. The third bevel gear is mounted on the second connecting shaft and is coaxial with the second bevel gear. The fourth bevel gear is mounted on the third connecting shaft and meshes with the third bevel gear for transmission. The third spur gear is mounted on the third connecting shaft and is coaxial with the fourth bevel gear. The fourth spur gear is mounted on the frame and meshes with the third spur gear for transmission. The slide rod is mounted on the frame, and the grinder is slidably connected to the slide rod. One end of the connecting rod is connected to the grinder, and the other end is connected to the fourth spur gear.

[0014] Furthermore, the oscillating cleaning mechanism includes a shovel head and at least one set of oscillating cleaning structures. The oscillating cleaning structure includes a rocker arm, a driving rod, and a sweeping rod. The shovel head is mounted on the frame. One end of the rocker arm is fixed to the shovel head, and the other end is connected to the sweeping rod. One end of the driving rod is fixed to the shovel head and has a circumferential rotation function. The other end of the driving rod is connected to the sweeping rod.

[0015] The oil residue collection device includes an oil residue collection bucket and a blower mounted on a frame. The oil residue collection bucket is located above and communicates with the shovel head, and the blower is connected to one side of the oil residue collection bucket to provide suction.

[0016] Furthermore, the liquid nitrogen spraying device includes a liquid nitrogen container and a nozzle mounted on a frame, the nozzle being connected to the liquid nitrogen container.

[0017] Furthermore, the walking mechanism includes a Mecanum wheel, a frame, a fifth motor, and a collision sensor. The frame is threaded to both sides, the Mecanum wheel is connected to the frame, the fifth motor is connected to the Mecanum wheel to drive the Mecanum wheel to rotate forward, and the fifth motor is connected to the collision sensor to control the rotation speed and realize the free steering of the device.

[0018] The present invention also provides a cleaning method for a fully automatic oil sludge removal device for oil tanks, comprising the following steps:

[0019] Step 1: Start the device. The Mecanum wheel of the walking mechanism drives the device forward and turns. Liquid nitrogen flows through the liquid nitrogen tank and is evenly sprayed out from the nozzle.

[0020] Step 2: Use the adjustable grinding mechanism with crank swing to grind the inside of the can once;

[0021] Step 3: Perform secondary polishing on the inside of the can using a reciprocating linear polishing mechanism;

[0022] Step 4: The oil residue after two grinding processes is cleaned and collected by the swing cleaning mechanism and the oil residue collection device.

[0023] Further, in step 2, the grinding process includes the following steps: the front rod of the wheel slides in the groove of the guide rod, the wheel rotates by the drive of the first motor, driving the guide rod, and the guide rod swings through the groove to ensure that the curved tank wall is cleaned; two fixed rods are fixed to the guide rod, and a third motor is installed inside the fixed rods, which drives the chain to rotate; the brush roller is connected to the two fixed rods and cooperates with the other end of the chain, driven by the third motor, and the high-speed rotation of the brush roller is achieved through chain transmission to complete the grinding of the oil residue in the tank; the fifth spur gear meshes with the screw to realize the up and down movement of the guide rod connected to the screw, controlling the swing amplitude of the mechanism;

[0024] In step 3, the secondary grinding includes the following steps: the grinding machine is connected by a connecting rod that meshes with the fourth spur gear. Through the rotation of the fourth spur gear, the grinding machine achieves linear reciprocating motion on the slide rod, and the stubborn oil residue that was not completely removed in the first grinding is ground again; wherein the fourth spur gear is driven by the third spur gear coaxial with the fourth bevel gear, the fourth bevel gear is driven by the third bevel gear coaxial with the second bevel gear, the second bevel gear is driven by the first bevel gear coaxial with the second spur gear, and the motor drives the first spur gear, so that the second spur gear meshing with the first spur gear rotates;

[0025] In step 4, the cleaning and collection of oil residue includes the following steps: while the prime mover rotates, one end of the rocker arm is fixed to the shovel head, and the sweeping rod is connected to the other end of the rocker arm and the other end of the prime mover to achieve a motion trajectory that makes the sweeping rod sweep back and forth to clean the oil residue after two grindings; the oil residue in the shovel head is sucked into the oil residue collection bucket by the suction generated by the blower.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1. This invention involves two grinding processes and one cleaning of the oil tank. The first process uses a oscillating motion to grind away obvious oil residue on the walls. The second process uses a straight motion to grind away stubborn oil residue remaining on the walls. Finally, the oil residue after grinding is swept away. Through these three mechanical structures, the oil tank is effectively cleaned.

[0028] 2. The liquid nitrogen spraying device of the present invention utilizes the physical property that oil residue becomes brittle and easy to break at low temperatures after liquid nitrogen spraying, which facilitates subsequent oil residue grinding and avoids the problem of oil residue sticking and being difficult to clean at room temperature, thereby reducing labor costs.

[0029] 3. This invention uses a Mecanum wheel, which utilizes its self-rotating structural characteristics to solve the problem of blind spots caused by the inconvenience of manual polishing. The entire device can be fully automated by controlling the rotation speed of the two wheels.

[0030] 4. The crank swing adjustable grinding mechanism of the present invention is equipped with a screw with lifting function to adjust the swing amplitude and improve work efficiency.

[0031] Based on the above reasons, this invention can be widely promoted in fields such as oil tank sludge removal. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the device structure of the present invention.

[0034] Figure 2 This is a schematic diagram of the side structure of the device of the present invention.

[0035] Figure 3 This is a schematic diagram and working drawing of the adjustable crank swing grinding mechanism of the present invention.

[0036] Figure 4 This is a schematic diagram and working drawing of the reciprocating linear grinding mechanism of the present invention.

[0037] Figure 5 This is a schematic diagram and working drawing of the swing cleaning mechanism of the present invention.

[0038] Figure 6 This is a schematic diagram and working drawing of the walking mechanism of the present invention.

[0039] In the diagram: 1. Liquid nitrogen container; 2. Fifth spur gear; 3. Screw; 4. Guide rod; 5. Wheel; 6. First motor; 7. Second motor; 8. Frame; 9. Second spur gear; 10. First spur gear; 11. First bevel gear; 12. Oil residue collection bucket; 13. Fan; 14. Mecanum wheel; 15. Frame; 16. Collision sensor; 17. Grinding machine; 18. Brush roller; 19. Nozzle; 20. Fixed rod; 21. Spring damper; 22. Third motor; 23. Chain; 24. Crossbar; 25. Second bevel gear; 26. Third bevel gear; 27. Fourth bevel gear; 28. Third spur gear; 29. ​​Fourth spur gear; 30. Connecting rod; 31. Fourth motor; 32. Rocker arm; 33. Prime mover; 34. Sweeping rod; 35. Fifth motor; 36. Shovel head; 37. Slide rod. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0044] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0045] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0046] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0047] See appendix Figures 1 to 6This invention provides a specific structure for a device for cleaning and collecting oil sludge inside an oil tank. The device includes a frame 8, a liquid nitrogen spraying device, a crank-adjustable grinding mechanism at the front for primary grinding of oil sludge, a reciprocating linear grinding mechanism in the middle for secondary grinding of oil sludge, a swinging sweeping mechanism at the end for cleaning oil sludge, and a traveling mechanism at the bottom of the device that moves forward inside the tank, driving the entire device to move. A liquid nitrogen tank 1 and an oil sludge collection bucket 12 are located at the upper end of the frame 8. The crank-adjustable grinding mechanism's wheel 5 is connected to a first motor 6 and oscillates in cooperation with the guide rod 4 through a sliding groove. The reciprocating linear grinding mechanism's grinding machine 17, driven by a fourth motor 31, moves reciprocally on a sliding rod 37 under the action of a connecting rod 30. The liquid nitrogen tank 1 and the spray head 19 are connected to achieve uniform spraying of liquid nitrogen. The swinging sweeping mechanism uses a prime mover 33 to drive two rocker arms 32 to complete the swinging sweeping of the sweeping rod 34. This invention cools and embrittles oil residue by spraying liquid nitrogen into the oil tank, and then quickly grinds the oil residue using a fully automatic grinding mechanism. It has the advantages of automation, high efficiency, and saving labor costs.

[0048] like Figures 1 to 2 As shown, the device for cleaning and collecting oil tanks proposed in this invention includes a frame 8, a crank-swing adjustable grinding mechanism, a reciprocating linear grinding mechanism, a liquid nitrogen spraying device, a swing cleaning mechanism, and a walking mechanism.

[0049] like Figure 3As shown, the crank-oscillating adjustable grinding mechanism includes two fifth spur gears 2, two screws 3, two second motors 7, a guide rod 4, a wheel 5, a first motor 6, two fixed rods 20, two spring dampers 21, two third motors 22, two chains 23, and a brush roller 18. The first motor 6 is located on the upper side of the frame 8 and connected to the wheel 5; the front rod of the wheel 5 engages in the groove of the guide rod 4; the two second motors 7 are fixedly mounted on the frame 8 at intervals; the two fifth spur gears 2 are located at intervals above the frame 8; the output ends of the two second motors 7 engage with the two fifth spur gears 2 respectively; and the two screws 3 are respectively... The two screws 3 are internally meshed with the two fifth spur gears 2; the lower ends of the two screws 3 are connected to the upper ends of the guide rods 4 via a transverse first connecting rod, wherein the upper end of the guide rods 4 is rotatably connected to the first connecting rod, and the lower end of the guide rods 4 and the two fixed rods 20 are fixed by a second connecting rod, the two ends of the second connecting rod being fixedly connected to the two fixed rods 20; the two sides of the brush roller 18 are chain-connected to the lower ends of the two chains 23, and the two third motors 22 are respectively connected to the upper ends of the two chains 23 inside the two sides of the fixed rods 20, and the brush roller 18 rotates in cooperation with the two fixed rods 20; each spring buffer 21 is located between each side of the fixed rods 20. Specifically, after the first motor 6 located on the frame 8 is started, the wheel 5 connected to it via a spline also rotates. Since the crank (front rod) is engaged in the guide rod 4 groove, the circumferential rotation of the crank drives the guide rod 4 to swing. The second motor 7 is started, and the second motor 7 meshes with the fifth spur gear 2. Through the internal meshing rotation of the fifth spur gear 2 and the screw 3, the screw 3 is raised and lowered. Because the screw 3 is fixed to the guide rod 4, the guide rod 4 also rises and falls accordingly, thus achieving the purpose of controlling the swing amplitude. The third motor 22 is started, and the brush roller 18 is driven by the third motor 22 through the chain 23 to complete the energy transfer. While the spring buffer 21 presses the fixed rod 20 against the can surface, it can also buffer the impact on the guide rod 4.

[0050] like Figure 4As shown, the reciprocating linear grinding mechanism includes a fourth motor 31, a first spur gear 10, a second spur gear 9, a first connecting shaft, a first bevel gear 11, a second bevel gear 25, a second connecting shaft, a third bevel gear 26, a fourth bevel gear 27, a third connecting shaft, a third spur gear 28, a fourth spur gear 29, a grinding machine 17, a connecting rod 30, and a slide rod 37. The first spur gear 10 is driven by the fourth motor 31 and meshes with the second spur gear 9. The second spur gear 9 is coaxial with the first bevel gear 11 and is mounted on the first connecting shaft. The first bevel gear 11 is meshed with the second bevel gear 25 for transmission; the second bevel gear 25 and the third bevel gear 26 are coaxial and are both mounted on the second connecting shaft; the third bevel gear 26 is meshed with the fourth bevel gear 27 for transmission, and the fourth bevel gear 27 and the third spur gear 28 are coaxial and are both mounted on the third connecting shaft; the third spur gear 28 is meshed with the fourth spur gear 29 for transmission; the grinder 17 is slidably connected to the slide rod 37, one end of the connecting rod 30 is connected to the grinder 17, and the other end is connected to the fourth spur gear 29. The working principle of the reciprocating linear grinding mechanism 17 is as follows: After the fourth motor 31 is started, the first spur gear 10 is connected to the fourth motor 31 and meshes with the second spur gear 9 to rotate; the second spur gear 9 rotates coaxially with the first bevel gear 11; the first bevel gear 11 meshes with the second bevel gear 25 for transmission; the second bevel gear 25 and the third bevel gear 26 rotate coaxially; the third bevel gear 26 and the fourth bevel gear 27 mesh for transmission; the fourth bevel gear 27 and the third spur gear 28 rotate coaxially, and the third spur gear 28 and the fourth spur gear 29 are connected; the grinding machine 17 is simultaneously connected to one end of the connecting rod 30 and the slide rod 37, and the grinding machine 17 slides on the slide rod 37; the other end of the connecting rod 30 is connected to the fourth spur gear 29, so that the fourth spur gear 29 drives the connecting rod 30 to rotate, and the movement of the connection between the connecting rod 30 and the grinding machine 17 is constrained to the slide rod 37, realizing the reciprocating linear motion of the grinding machine 17. In this embodiment, the reciprocating linear grinding mechanism includes a drive mechanism and two grinding mechanisms. The grinding machines 17 of the two grinding mechanisms are connected to the same slide bar 37, and the first bevel gears 11 of the two grinding mechanisms are respectively located at both ends of the first connecting shaft and on both sides of the second spur gear 9.

[0051] like Figure 5As shown, the swinging cleaning mechanism includes a driving rod 33, a rocker arm 32, a sweeping rod 34, and a shovel head 36. The oil sludge collection device includes a blower 13 and an oil sludge collection bucket 12. One end of the driving rod 33 is fixed to the shovel head 36 and can rotate circumferentially. One end of the rocker arm 32 is fixed to the shovel head 36. The sweeping rod 34 is connected to the other end of the driving rod 33 and the other end of the rocker arm 32, respectively, and swings. The oil sludge collection bucket 12 is located above and communicates with the shovel head 36. The blower 13 is located on one side of the oil sludge collection bucket 12 and provides suction. Specifically, while the driving rod 33 rotates, one end of the rocker arm 32 is fixed to the shovel head 36, and the sweeping rod 34 is connected to the other end of the rocker arm 32 and the other end of the driving rod 33, realizing a back-and-forth sweeping motion trajectory for cleaning the oil sludge after two cleanings. The blower 13 works by generating suction to draw the oil sludge in the shovel head 36 into the oil sludge collection bucket 12. In this embodiment, the swing cleaning mechanism includes a shovel head 36 and two sets of swing cleaning structures. The two sets of swing cleaning structures are distributed on both sides and can be symmetrically arranged about the central axis of the shovel head 36.

[0052] like Figure 1 As shown, the liquid nitrogen spraying device includes a liquid nitrogen tank 1 and a nozzle 19. The liquid nitrogen tank 1 is connected to the frame 8 and can be easily disassembled; the nozzle 19 is connected to the liquid nitrogen tank 1 to ensure the spraying of liquid nitrogen.

[0053] like Figure 6 As shown, the walking mechanism includes Mecanum wheels 14, a frame 15, a fifth motor 35, and a collision sensor 16. The frame 15 is threaded at both ends to a frame 8 with threaded holes. The Mecanum wheels 14 engage with the frame 15. The fifth motor 35 drives the Mecanum wheels 14 to rotate and move forward. The rotation speed of the fifth motor 35 is controlled by the collision sensor 16 to ensure free steering of the device. In this embodiment, two frames 15 are provided, installed on both sides of the frame 8. Each frame 15 has two Mecanum wheels 14, and the four Mecanum wheels 14 are distributed at the four corners.

[0054] like Figure 1 and Figure 2 As shown, a crossbeam 24 is installed on the frame 8 to achieve stable support.

[0055] The present invention also provides a method for removing oil sludge from oil tanks, based on the above-mentioned fully automatic oil sludge removal device for oil tanks, comprising the following steps:

[0056] When the device is started, the Mecanum wheel 14 drives the device forward and turns. Liquid nitrogen flows through the liquid nitrogen container 1 and is evenly sprayed out from the nozzle 19. The device performs primary grinding, secondary grinding, and oil residue cleaning (oil residue sweeping and removal) inside the tank. Specifically, the tank is first ground by a crank-adjustable grinding mechanism, then second ground by a reciprocating linear grinding mechanism, and finally the oil residue after the two grindings is swept and collected by a swing cleaning mechanism and an oil residue collection device.

[0057] The first grinding process includes the following steps: the wheel 5 engages with the guide rod 4 in the groove, and the wheel 5 is rotated by the first motor 6 to drive the guide rod 4. The guide rod 4 swings in conjunction with the groove to ensure that the curved tank wall is cleaned; two fixed rods 20 are fixed to the guide rod 4, and a third motor 22 is installed inside the fixed rod 20. The third motor 22 drives the chain 23 to rotate; the brush roller 18 is connected to the two fixed rods 20 and engages with the other end of the chain 23. It is driven by the third motor 22 and rotates at high speed through the chain transmission 23 to complete the grinding of the oil residue in the tank; the fifth spur gear 2 meshes with the screw 3 to move the guide rod 4 connected to the screw 3 up and down, controlling the swing amplitude of the swing mechanism;

[0058] The secondary polishing includes the following steps: the polishing machine 17 is connected by a connecting rod 30 that meshes with the fourth spur gear 29. Through the rotation of the fourth spur gear 29, the polishing machine 17 achieves linear reciprocating motion on the slide rod 37, and polishes the stubborn oil residue that was not completely removed in the first polishing again; wherein the fourth spur gear 29 is driven by the third spur gear 28 coaxial with the fourth bevel gear 27, the fourth bevel gear 27 is driven by the third bevel gear 26 coaxial with the second bevel gear 25, the second bevel gear 25 is driven by the first bevel gear 11 coaxial with the second spur gear 9, and the motor 10 drives the first spur gear 10 to achieve the rotation of the second spur gear 9 that meshes with the first spur gear 10;

[0059] The oil residue cleaning and removal process includes the following steps: while the prime mover 33 rotates, one end of the rocker arm 32 is fixed to the shovel head 36, and the sweeping rod 34 is connected to the other end of the rocker arm 32 and the other end of the prime mover 33, so as to realize a motion trajectory that makes the sweeping rod 34 sweep back and forth to clean the oil residue after two grindings; the blower 13 works by generating suction to suck the oil residue in the shovel head 36 into the oil residue collection bucket 12.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for automatic removal of sludge from inside an oil tank, characterized in that, include: The device comprises a frame (8), a crank-adjustable grinding mechanism, a reciprocating linear grinding mechanism, a swing cleaning mechanism, a liquid nitrogen spraying device, an oil sludge collection device, and a walking mechanism. The crank-adjustable grinding mechanism is installed at the front of the frame (8) and is used to perform primary grinding on the oil tank. The reciprocating linear grinding mechanism is installed in the middle of the frame (8) and is used to perform secondary grinding on the oil tank. The swing cleaning mechanism is installed at the end of the frame (8) and is used to clean and remove the oil sludge after the two grinding processes. The oil sludge collection device is installed at the end of the frame (8) and is connected to the swing cleaning mechanism to collect the cleaned oil sludge. The liquid nitrogen spraying device is installed at the upper end of the frame (8) and is used to spray liquid nitrogen. The walking mechanism is installed below the frame (8) and is used to drive the entire device to move inside the tank. The crank swing adjustable polishing mechanism includes a brush roller (18), a rotating mechanism, a swing mechanism and a moving mechanism. The moving mechanism is mounted on the frame (8). The swing mechanism is connected to the moving mechanism. The rotating mechanism is connected to the swing mechanism. The brush roller (18) is connected to the rotating mechanism. The moving mechanism includes two fifth spur gears (2), two screws (3) and two second motors (7). The two second motors (7) are mounted on the frame (8). The output ends of the two second motors (7) are respectively connected to the two fifth spur gears (2). The two screws (3) are respectively connected to the internal meshing transmission of the two fifth spur gears (2). The lower ends of the two screws (3) are connected to the first connecting rod. The two ends of the first connecting rod are placed in the vertical long slots opened on both sides of the frame (8). The swing mechanism includes a guide rod (4), a wheel (5), a first motor (6), two fixed rods (20), and two spring buffers (21). The first motor (6) is mounted on the frame (8), and the output end of the first motor (6) is connected to the wheel (5). The wheel (5) is provided with an eccentric front rod. The upper end of the guide rod (4) is connected to the first connecting rod. The guide rod (4) has a sliding groove, and the front rod is connected to the sliding groove and moves back and forth in the sliding groove. The frame (8) has a transverse long groove, and the guide rod (4) passes through the transverse long groove and swings back and forth in the transverse long groove. The lower end of the guide rod (4) is fixedly connected to the second connecting rod, and the two ends of the second connecting rod are connected to the two fixed rods (20). Each fixed rod (20) is equipped with a spring buffer (21). The rotating mechanism includes two third motors (22) and two chains (23). The two third motors (22) are respectively installed at the lower ends of two fixed rods (20). The output ends of the two third motors (22) are respectively connected to one end of the two chains (23). The other end of the two chains (23) is connected to both ends of the brush roller (18), and both ends of the brush roller (18) are rotatably connected to the two fixed rods (20).

2. The device for full automatic desludge in oil tank according to claim 1, characterized in that, The reciprocating linear grinding mechanism includes a drive mechanism and at least one grinding mechanism. The grinding mechanism includes a grinding machine (17) and a transmission mechanism. The drive mechanism is mounted on the frame (8). The transmission mechanism is connected to the drive mechanism. The grinding machine (17) is connected to the transmission mechanism. The transmission mechanism is used to realize the linear reciprocating motion of the grinding machine (17).

3. The device for automatic removal of sludge from the oil tank according to claim 2, characterized in that, The drive mechanism includes a fourth motor (31), a first spur gear (10), a second spur gear (9), and a first connecting shaft. The fourth motor (31) and the first connecting shaft are both mounted on the frame (8). The output end of the fourth motor (31) is connected to the first spur gear (10). The first spur gear (10) and the second spur gear (9) are meshed and connected. The second spur gear (9) is mounted on the first connecting shaft. The transmission mechanism includes a first bevel gear (11), a second bevel gear (25), a second connecting shaft, a third bevel gear (26), a fourth bevel gear (27), a third connecting shaft, a third spur gear (28), a fourth spur gear (29), a connecting rod (30), and a slide rod (37). The first bevel gear (11) is mounted on the first connecting shaft and is coaxial with the second spur gear (9). The second bevel gear (25) is mounted on the second connecting shaft and meshes with the first bevel gear (11). The third bevel gear (26) is mounted on the second connecting shaft and meshes with the second bevel gear (27). 5) Coaxial, the fourth bevel gear (27) is mounted on the third connecting shaft and meshes with the third bevel gear (26) for transmission, the third spur gear (28) is mounted on the third connecting shaft and is coaxial with the fourth bevel gear (27), the fourth spur gear (29) is mounted on the frame (8) and meshes with the third spur gear (28) for transmission, the slide rod (37) is mounted on the frame (8), the grinder (17) is slidably connected to the slide rod (37), one end of the connecting rod (30) is connected to the grinder (17), and the other end is connected to the fourth spur gear (29).

4. The device for fully automatic oil sludge removal in oil tanks according to claim 1, characterized in that, The oscillating cleaning mechanism includes a shovel head (36) and at least one set of oscillating cleaning structures. The oscillating cleaning structures include a rocker arm (32), a driving rod (33), and a sweeping rod (34). The shovel head (36) is mounted on the frame (8). One end of the rocker arm (32) is fixed to the shovel head (36), and the other end is connected to the sweeping rod (34). One end of the driving rod (33) is fixed to the shovel head (36) and has a circumferential rotation function. The other end of the driving rod (33) is connected to the sweeping rod (34). The oil residue collection device includes an oil residue collection bucket (12) and a blower (13) mounted on a frame (8). The oil residue collection bucket (12) is located above and communicates with the shovel head (36). The blower (13) is connected to one side of the oil residue collection bucket (12) to provide suction.

5. The device for automatic removal of sludge from the oil tank according to claim 1, characterized in that, The liquid nitrogen spraying device includes a liquid nitrogen container (1) and a nozzle (19) mounted on a frame (8), the nozzle (19) being connected to the liquid nitrogen container (1).

6. The device for automatic removal of sludge from the oil tank according to claim 1, characterized in that, The walking mechanism includes a Mecanum wheel (14), a frame (15), a fifth motor (35), and a collision sensor (16). The frame (8) is threaded to both sides of the frame (15). The Mecanum wheel (14) is connected to the frame (15). The fifth motor (35) is connected to the Mecanum wheel (14) and is used to drive the Mecanum wheel (14) to rotate forward. The fifth motor (35) is connected to the collision sensor (16). The speed is controlled by the collision sensor (16) to realize the free steering of the device.

7. A method of cleaning a device for automatic removal of sludge from the bottom of a tank as claimed in any one of claims 1 to 6, characterised in that, Includes the following steps: Step 1: Start the device. The Mecanum wheel (14) of the walking mechanism drives the device forward and turns. Liquid nitrogen flows through the liquid nitrogen tank (1) and is evenly sprayed out from the nozzle (19). Step 2: Use the adjustable grinding mechanism with crank swing to grind the inside of the can once; Step 3: Perform secondary polishing on the inside of the can using a reciprocating linear polishing mechanism; Step 4: The oil residue after two grinding processes is cleaned and collected by the swing cleaning mechanism and the oil residue collection device.

8. The cleaning method for the apparatus for full-automatic oil residue removal in oil tanks according to claim 7, characterized in that, In step 2, the grinding process includes the following steps: the front rod of the wheel (5) slides in the groove of the guide rod (4), the wheel (5) rotates by the drive of the first motor (6), drives the guide rod (4), and swings the guide rod (4) through the groove to ensure that the curved tank wall is cleaned; the two fixed rods (20) and the guide rod (4) are fixed, and the fixed rod (20) is equipped with a third motor (22), which drives the chain (23) to rotate; the brush roller (18) is connected to the two fixed rods (20) and cooperates with the other end of the chain (23), and is driven by the third motor (22) to rotate at high speed through the chain transmission, thus completing the grinding work of the oil residue in the tank; the fifth spur gear (2) and the screw (3) mesh internally to realize the up and down movement of the guide rod (4) connected to the screw (3), and control the swing amplitude of the mechanism; In step 3, the secondary grinding includes the following steps: the grinding machine (17) is connected by a connecting rod (30) that cooperates with the fourth spur gear (29). Through the rotation of the fourth spur gear (29), the grinding machine (17) moves linearly back and forth on the slide rod (37) to grind the stubborn oil residue that was not completely removed in the first grinding. The fourth spur gear (29) is driven by the third spur gear (28) that is coaxial with the fourth bevel gear (27). The fourth bevel gear (27) is driven by the third bevel gear (26) that is coaxial with the second bevel gear (25). The second bevel gear (25) is driven by the first bevel gear (11) that is coaxial with the second spur gear (9). The fourth motor (31) drives the first spur gear (10) to realize the rotation of the second spur gear (9) that meshes with the first spur gear (10). In step 4, the cleaning and collection of oil residue includes the following steps: while the prime mover (33) rotates, one end of the rocker arm (32) is fixed to the shovel head (36), and the sweeping rod (34) is connected to the other end of the rocker arm (32) and the other end of the prime mover (33) to realize a motion trajectory that makes the sweeping rod (34) sweep back and forth to clean the oil residue after two grindings; the oil residue in the shovel head (36) is sucked into the oil residue collection bucket (12) by the suction generated by the blower (13).

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