Adaptive multi-curvature arc wall cleaning robot for crude oil tanks

Abstract

The present invention discloses a crude oil tank adaptive multi-curvature arc wall cleaning robot, which belongs to the technical field of industrial robots and includes a vehicle body, a track module, a spray module, a monitoring module, a one-time cleaning module and a collection bag clamping module. Multiple track modules are connected to the vehicle body by ball joints to adapt to the curvatures of different arc walls. The spraying module is installed on the vehicle body and is used to spray a cleaning agent on the arc wall. The monitoring module is used to photograph the arc wall and identify the terrain and dirt, and transmit the dirt information to the spraying module to guide the spraying action of the spraying module. The one-time cleaning module is used for applying the cleaning agent and scraping the dirt. The collection bag clamping module is installed on the vehicle body and is used to clamp the collection bag so as to receive the dirt scraped off by the cleaning module through the collection bag. Compared with the prior art, the cleaning robot of the present invention can not only adapt to the multi-curvature arc wall, but also shorten the tank cleaning cycle, and ensure safe operation.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, and in particular to an adaptive multi-curvature arc wall cleaning robot for crude oil storage tanks. Background Art

[0002] Oil products in Northeast my country usually have high sulfur content, high density, and high pour point. Oil products contain a lot of wax components, which will crystallize at low temperatures, causing the oil to solidify and increase viscosity. Especially in cold seasons, the temperature drop in crude oil storage tanks will intensify wax crystallization, making it difficult for oil products to flow, which will have an adverse impact on production operations.

[0003] When wax deposition occurs in crude oil storage tanks, manual cleaning is usually used. First, the crude oil in the tank needs to be completely emptied, the tank needs to be well ventilated, and the oxygen content and harmful gas concentration need to be tested to ensure a safe working environment. Then, the staff enters the tank to clean it, using tools such as agitators or scrapers to completely remove the crystallized material from the tank wall.

[0004] At present, there are the following technical problems in manual tank cleaning: first, when workers enter a closed space to work, they may encounter dangers such as toxic gases, hypoxia, and fire. If safety measures are not in place or the operation is improper, accidents may easily occur; second, manual tank cleaning usually takes a long time, especially for large storage tanks or severe wax deposition. The cleaning process may take several days or even longer, which will delay production. Based on this, there is an urgent need for a robot that can adapt to multi-curvature arc walls, shorten the tank cleaning cycle, and ensure safe operation. Summary of the invention

[0005] The purpose of the present invention is to provide a crude oil tank adaptive multi-curvature arc wall cleaning robot to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The invention discloses a crude oil storage tank adaptive multi-curvature arc wall cleaning robot, comprising:

[0008] Vehicle body;

[0009] A crawler module, wherein the crawler module comprises a plurality of crawler modules respectively installed on the left and right sides of the vehicle body, and is used for crawling on the arc wall surface; the plurality of crawler modules are all connected to the vehicle body by ball joints to adapt to the curvature of different arc walls; the crawler module comprises a shell, a crawler track and a driving structure, and the crawler track has an explosion-proof magnetic strip that can be adsorbed on the crude oil storage tank; the driving structure is installed in the shell, and is used for driving the crawler track to rotate;

[0010] A spraying module, the spraying module is installed on the vehicle body and is used to spray a cleaning agent on the arc wall surface;

[0011] A monitoring module, which is mounted on the vehicle body and electrically connected to the spraying module, and is used to photograph the arc wall surface and identify the terrain and dirt, and transmit the dirt information to the spraying module to guide the spraying action of the spraying module;

[0012] A one-time cleaning module, the one-time cleaning module is installed on the vehicle body, the one-time cleaning module is used for applying detergent and scraping dirt; the one-time cleaning module comprises a first support plate, a first spring retractable rod, a first scraper and a brush; the first end of the first spring retractable rod is hinged to the first support plate, the second end of the first spring retractable rod is fixedly connected to the first scraper, and the first spring retractable rod can be elastically retracted and elastically twisted; the brush is rotatably installed on the side of the first scraper away from the first spring retractable rod; the number of the first spring retractable rods is multiple, and they are radially distributed in the direction of the crude oil storage tank adaptive multi-curvature arc wall cleaning robot moving forward or backward;

[0013] A collecting bag clamping module is installed on the vehicle body and is used to clamp a collecting bag so as to receive dirt scraped off by the cleaning module through the collecting bag.

[0014] Preferably, the crude oil tank adaptive multi-curvature arc wall cleaning robot further comprises a secondary cleaning module, and the secondary cleaning module is used for scraping off dirt;

[0015] The secondary cleaning module includes a second support plate, a second spring retraction rod and a second scraper; the first end of the second spring retraction rod is hinged to the second support plate, the second end of the second spring retraction rod is fixedly connected to the second scraper, and the second spring retraction rod can elastically extend and retract and elastically twist; the number of the second spring retraction rods is multiple, and they are radially distributed toward the direction in which the crude oil storage tank adaptive multi-curvature circular arc wall cleaning robot advances or retreats.

[0016] Preferably, the first spring retraction rod and the second spring retraction rod have the same structure, both comprising an outer sleeve, an inner slide rod and a spring; the first end of the outer sleeve is hinged to the first support plate or the second support plate, the second end of the outer sleeve is fixedly connected to the first end of the spring, and the second end of the spring is fixedly connected to the first scraper or the second scraper; the spring is sleeved on the outside of the inner slide rod; the first end of the inner slide rod is fixedly connected to the first scraper or the second scraper, and the second end of the inner slide rod is slidably inserted into the outer sleeve.

[0017] Preferably, both the first scraper and the second scraper are provided with a chip leakage groove, so that the scraped dirt falls from the chip leakage groove into a collection bag below.

[0018] Preferably, the vehicle body includes a chassis and an energy storage module fixed on the chassis; the energy storage module is connected to the driving structure through a wire to supply energy to the driving structure.

[0019] Preferably, the driving structure comprises a first track wheel, a second track wheel, a magnetic pole pair, a rotor and a belt; the first track wheel and the second track wheel are both rotatably mounted on the shell, and the first track wheel and the second track wheel support the track from the inside; the magnetic pole pair is fixed on the shell; the rotor is rotatably mounted on the shell, the rotor is located between the magnetic pole pairs, the rotor comprises a rotor body and an energized coil wound around the rotor body, the energized coil is electrically connected to the energy storage module through a brush, a commutator and a wire; the first track wheel is connected to the rotor through the belt transmission.

[0020] Preferably, the shell comprises a support frame and two insulating cover plates, the support frame is located between the two insulating cover plates and is fixedly connected to the two insulating cover plates respectively; the driving structure is mounted on the support frame.

[0021] Preferably, the track module and the vehicle body are connected by a ball joint via a ball rod and a spherical block socket. The ball rod includes a cylindrical rod and a spherical block fixed to one end of the cylindrical rod. The spherical block is located on one side of the spherical block socket and has a diameter larger than the spherical block socket. The diameter of the spherical block socket is larger than the diameter of the cylindrical rod, so that the track module and the vehicle body can rotate relative to each other while limiting the maximum distance between the track module and the vehicle body.

[0022] Preferably, the club is fixed on the vehicle body, and the spherical block bayonet is arranged on the housing.

[0023] Preferably, the collecting bag clamping module includes a spring clamp and a spring contraction clamp, the spring clamp is installed at the upper rear end of the vehicle body, and a row of the spring contraction clamps is installed at the lower rear end of the vehicle body; the spring contraction clamp includes a telescopic rod and a spring clamp, one end of the telescopic rod is connected to the vehicle body, and the other end of the telescopic rod is connected to the spring clamp; the spring clamp is used to clamp one side of the bag opening of the collecting bag, and the spring clamp is used to clamp the other side of the bag opening of the collecting bag.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The cleaning robot integrates the functions of arc wall walking, detergent spraying, detergent smearing, dirt scraping and dirt collecting, and realizes automatic cleaning of the wall of crude oil storage tank without manual participation, which is safer and more efficient than manual cleaning. In addition, the angle of the track module is adjusted by connecting the track module with the vehicle body through a ball joint, so that it can adapt to arc walls with different curvatures. The monitoring module monitors and identifies the position and size of the dirt, and controls the spraying pressure and spraying time of the detergent according to the identification results, thereby reducing the amount of detergent while ensuring the cleaning effect. By making multiple first spring retractable rods distributed radially, the cleaning range of a single stroke can be expanded, thereby improving the cleaning efficiency. Through the swing, elastic expansion and elastic torsion of the first spring retractable rod, the brush and the first scraper can better adapt to the shape of the arc wall, thereby further improving the detergent smearing efficiency of the brush and the dirt scraping efficiency of the first scraper. The dirt scraped by the first scraper falls directly into the collection bag below, realizing automatic collection of the dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the structure of the crude oil storage tank adaptive multi-curvature arc wall cleaning robot of the present invention;

[0028] Figure 2 for Figure 1 The main view of the structure;

[0029] Figure 3 for Figure 1 Rear view of the middle structure;

[0030] Figure 4 for Figure 1 Bottom view of the middle structure;

[0031] Figure 5 for Figure 1 A top view of the structure in the middle;

[0032] Figure 6 It is a structural schematic diagram of a primary cleaning module in the present invention;

[0033] Figure 7 for Figure 6 The main view of the structure;

[0034] Figure 8 It is a structural schematic diagram of the secondary cleaning module in the present invention;

[0035] Fig. 9 for Figure 8 The main view of the structure;

[0036] Fig.10 for Figure 8 Schematic diagram of the structure of the middle part;

[0037] Fig.11 It is a schematic diagram of the structure of the spring contraction clip in the present invention;

[0038] Fig.12 It is a structural schematic diagram of the crawler module in the present invention;

[0039] Fig.13 for Fig.12 Schematic diagram of some structures;

[0040] Fig.14 A schematic diagram of the working state of the crude oil storage tank adaptive multi-curvature arc wall cleaning robot of the present invention on the arc wall (from the radial perspective of the crude oil storage tank);

[0041] Fig.15 for Fig.14 Schematic diagram of another view of the structure (along the axial direction of the crude oil storage tank).

[0042] In the figure: 1-vehicle body, 2-track module, 3-high-pressure nozzle, 4-monitoring probe, 5-monitoring module, 6-brush, 7-first scraper, 8-first spring retraction rod, 9-first support plate, 10-second scraper, 11-second spring retraction rod, 12-second support plate, 13-spring retraction clamp, 14-spring clamp, 15-ball rod, 1301-telescopic rod, 1302-spring clamp, 201-spherical block bayonet, 202-powered coil, 203-magnetic pole pair, 204-belt, 205-first track wheel, 206-second track wheel, 207-support frame, 208-explosion-proof magnetic strip, 209-insulating cover. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Reference Figure 1 to Figure 15 The present embodiment provides a crude oil tank adaptive multi-curvature arc wall cleaning robot (hereinafter referred to as the cleaning robot), including a vehicle body 1, a track module 2, a spraying module, a monitoring module, a primary cleaning module and a collection bag clamping module.

[0045] The track module 2 includes multiple tracks and is respectively installed on the left and right sides of the vehicle body 1, and is used to crawl on the arc wall surface. Multiple track modules 2 are all connected to the vehicle body 1 by ball joints to adapt to the curvature of different arc walls. The track module 2 includes a shell, a track and a drive structure, and the track has an explosion-proof magnetic strip 208 that can be adsorbed on the crude oil storage tank. The drive structure is installed in the shell to drive the track to rotate. The spray module is installed on the vehicle body 1 and is used to spray the cleaning agent on the arc wall surface. The monitoring module is installed on the vehicle body 1 and is electrically connected to the spray module, and is used to shoot the arc wall surface and identify the terrain and dirt, and transmit the dirt information to the spray module to guide the spraying action of the spray module. The one-time cleaning module is installed on the vehicle body, and the one-time cleaning module is used for applying the cleaning agent and scraping the dirt. The one-time cleaning module includes a first support plate 9, a first spring retracting rod 8, a first scraper 7 and a brush 6. The first end of the first spring retractable rod 8 is hinged to the first support plate 9, and the second end of the first spring retractable rod 8 is fixedly connected to the first scraper 7. The first spring retractable rod 8 can be elastically retracted and elastically twisted. The brush 6 is rotatably mounted on the side of the first scraper 7 away from the first spring retractable rod 8. There are multiple first spring retractable rods 8, and they are radially distributed in the direction of the cleaning robot moving forward or backward. The collection bag clamping module is installed on the vehicle body, and is used to clamp the collection bag so as to receive the dirt scraped by the cleaning module through the collection bag.

[0046] The working principle of the cleaning robot in this embodiment is as follows:

[0047] The cleaning robot integrates the functions of arc wall walking, detergent spraying, detergent smearing, dirt scraping and dirt collecting, and realizes automatic cleaning of the wall of crude oil storage tanks without manual participation, which is safer and more efficient than manual cleaning. In addition, the angle of the track module 2 can be adjusted by connecting the track module 2 with the vehicle body 1 through a ball joint, so that it can adapt to arc walls of different curvatures. The monitoring module monitors and identifies the position and size of the dirt, and controls the spraying pressure and spraying time of the detergent according to the identification results, thereby reducing the amount of detergent used while ensuring the cleaning effect.

[0048] When cleaning dirt, the cleaning robot usually moves along the axial direction of the arc wall surface. By making the multiple first spring retractable rods 8 distributed radially, the cleaning range of a single stroke can be expanded, thereby improving the cleaning efficiency. Through the swing, elastic expansion and elastic torsion of the first spring retractable rod 8, the brush 6 and the first scraper 7 can better adapt to the shape of the arc wall surface, thereby further improving the cleaning agent application efficiency of the brush 6 and the dirt scraping efficiency of the first scraper 7. The dirt scraped by the first scraper 7 falls directly into the collection bag below, realizing automatic collection of the dirt.

[0049] As a possible example, in this embodiment, the cleaning robot further includes a secondary cleaning module, which is used for scraping off dirt.

[0050] The secondary cleaning module includes a second support plate 12, a second spring retractable rod 11 and a second scraper 10. The first end of the second spring retractable rod 11 is hinged to the second support plate 12, the second end of the second spring retractable rod 11 is fixedly connected to the second scraper 10, and the second spring retractable rod 11 can be elastically retracted and elastically twisted. There are multiple second spring retractable rods 11, and they are radially distributed in the direction of the cleaning robot moving forward or backward.

[0051] Since the primary cleaning module has already completed the application of the cleaning agent, the secondary cleaning module does not need to be equipped with a brush 6.

[0052] As a possible example, in this embodiment, the first spring retracting rod 8 and the second spring retracting rod 11 have the same structure, both including an outer sleeve, an inner slide rod and a spring. The first end of the outer sleeve is hinged to the first support plate 9 or the second support plate 12, the second end of the outer sleeve is fixedly connected to the first end of the spring, and the second end of the spring is fixedly connected to the first scraper 7 or the second scraper 10. The spring is sleeved on the outside of the inner slide rod. The first end of the inner slide rod is fixedly connected to the first scraper 7 or the second scraper 10, and the second end of the inner slide rod is slidably inserted in the outer sleeve.

[0053] When the first scraper 7 and the second scraper 10 encounter stubborn dirt, it is difficult to completely remove it in one cleaning. In addition to the function of making the first scraper 7 and the second scraper 10 better adapt to the shape of the arc wall as mentioned above, the first spring retraction rod 8 and the second spring retraction rod 11 also have the function of avoiding jamming. Specifically, by the inner slide bar sliding into the outer sleeve and the compression of the spring, a buffering effect can be played to avoid sudden pauses that cause the crawler to separate from the arc wall. In addition, by the rotation of the first scraper 7 and the second scraper 10 around the axis of the inner slide bar, and the rotation of the outer sleeve around the hinge axis of its second end, stubborn dirt can be avoided, so that the cleaning robot can smoothly pass the dirt without being stuck by the dirt, thereby repeating the cleaning of stubborn dirt in the next stroke.

[0054] As a possible example, in this embodiment, both the first scraper 7 and the second scraper 10 are provided with a chip leakage groove, so that the scraped dirt falls from the chip leakage groove into the collection bag below.

[0055] As a possible example, in this embodiment, the spray module includes a liquid storage tank, a conduit, a pump body and a plurality of high-pressure nozzles 3, the plurality of high-pressure nozzles 3 are all mounted on the conduit, the inlet of the pump body is connected to the liquid storage tank, and the outlet of the pump body is connected to the conduit, so that the cleaning agent stored in the liquid storage tank is delivered to the high-pressure nozzle 3 through the pump body. The monitoring module can input different control signals to the controller of the pump body, so as to adjust the working gear and working time of the pump body.

[0056] As a possible example, in this embodiment, the monitoring module includes a monitoring probe 4 and a monitoring module 5, and the monitoring probe 4 is electrically connected to the monitoring module 5. The monitoring probe 4 is used to shoot and transmit the shooting data to the monitoring module 5, and the monitoring module 5 stores the shooting data and performs calculation and analysis. It should be noted that in the forward direction of the pollution cleaning robot, the position of the shooting object of the monitoring probe 4 should be slightly ahead of the spraying position of the high-pressure nozzle 3, so as to leave a certain amount of calculation and analysis time after the monitoring probe 4 completes the shooting.

[0057] As a possible example, in this embodiment, the vehicle body 1 includes a chassis and an energy storage module fixed on the chassis. The energy storage module is connected to the drive structure through a wire to supply energy to the drive structure. By carrying the energy storage module on the cleaning robot itself, no external power supply is required during the cleaning process, which can reduce the use of cables and avoid the safety hazards caused by discharge of cable connectors.

[0058] As a possible example, in this embodiment, the driving structure includes a first track wheel 205, a second track wheel 206, a magnetic pole pair 203, a rotor and a belt 204. The first track wheel 205 and the second track wheel 206 are both rotatably mounted on the housing, and the first track wheel 205 and the second track wheel 206 support the track from the inside and mesh with the track. The magnetic pole pair 203 is fixed to the housing. The rotor is rotatably mounted on the housing, and the rotor is located between the magnetic pole pair 203. The rotor includes a rotor body and an energized coil 202 wound on the rotor body, and the energized coil 202 is electrically connected to the energy storage module through a brush, a commutator and a wire. The first track wheel 205 is connected to the rotor through a belt 204. Therefore, the driving structure is composed of a DC motor through structures such as a magnetic pole pair 203 and a rotor, and the rotor is driven to rotate through the energy storage module. The rotor drives the first track wheel 205 to rotate through the belt 204, and the first track wheel 205 drives the track and the second track wheel 206 to rotate, thereby driving the track. According to different actual needs, those skilled in the art may also adopt other forms of driving structures.

[0059] As a possible example, in this embodiment, the housing includes a support frame 207 and two insulating cover plates 209, and the support frame 207 is located between the two insulating cover plates 209 and is respectively fixedly connected to the two insulating cover plates 209. The drive structure is mounted on the support frame 207. The drive structure is separated from the arc wall by the two insulating cover plates 209 to avoid safety hazards caused by electric sparks generated when the drive structure is running.

[0060] As a possible example, in this embodiment, the track module 2 and the vehicle body 1 are connected by a ball joint through the ball rod 15 and the spherical block bayonet 201. The ball rod 15 includes a cylindrical rod and a spherical block fixed to one end of the cylindrical rod. The spherical block is located on one side of the spherical block bayonet 201 and has a diameter larger than the spherical block bayonet 201. The diameter of the spherical block bayonet 201 is larger than the cylindrical rod. The maximum distance between the track module 2 and the vehicle body 1 can be limited by limiting the spherical block and the spherical block bayonet 201. By making the diameter of the spherical block bayonet 201 larger than the diameter of the cylindrical rod, the cylindrical rod can be rotated, thereby realizing the angle adjustment of the track module 2. When the spherical block and the spherical block bayonet 201 are in sliding contact, it can be regarded as a special ball joint connection.

[0061] As a possible example, in this embodiment, the ball rod 15 is fixed on the vehicle body 1, and the ball block bayonet 201 is set on the shell. It is understandable that those skilled in the art can also use other connection methods to achieve the angle adjustment of the track module 2, such as replacing the ball block bayonet 201 with a spherical cavity to form a conventional ball joint connection; or fixing the ball rod 15 on the track module 2 and setting the ball block bayonet 201 on the vehicle body 1.

[0062] As a possible example, in this embodiment, the collection bag clamping module includes a spring clamp 14 and a spring contraction clamp 13, the spring clamp 14 is installed at the upper rear end of the vehicle body 1, and a row of spring contraction clamps 13 are installed at the lower rear end of the vehicle body 1. The spring contraction clamp 13 includes a telescopic rod 1301 and a spring clamp 1302, one end of the telescopic rod 1301 is connected to the vehicle body 1, and the other end of the telescopic rod 1301 is connected to the spring clamp 1302. The spring clamp 14 is used to clamp one side of the bag opening of the collection bag, and the spring clamp 1302 is used to clamp the other side of the bag opening of the collection bag. The telescopic rod 1301 includes an outer rod, an inner rod and a compression spring, and the two ends of the compression spring are respectively connected to the outer rod and the inner rod, and the outer rod is plugged and connected to the inner rod. Under the action of the compression spring, the telescopic rod 1301 automatically extends and the length is adjustable, so as to adapt to arc walls of different curvatures, so that one side of the bag opening of the collection bag is always close to the arc wall, and dirt is prevented from falling on the outside of the collection bag.

[0063] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An adaptive multi-curvature arc wall cleaning robot for crude oil storage tanks, characterized in that: include: Car body (1); A crawler module (2), the crawler module (2) comprising a plurality of crawler modules (2) respectively mounted on the left and right sides of the vehicle body (1) for crawling on a circular arc wall surface; the plurality of crawler modules (2) are all connected to the vehicle body (1) by ball joints to adapt to different curvatures of circular arc walls; the crawler module (2) comprises a housing, a crawler track and a drive structure, the crawler track having an explosion-proof magnetic strip (208) capable of being adsorbed on a crude oil storage tank; the drive structure is mounted in the housing and is used to drive the crawler track to rotate; A spraying module, the spraying module being mounted on the vehicle body (1) and being used for spraying a cleaning agent on the arc wall surface; A monitoring module, the monitoring module being mounted on the vehicle body (1) and electrically connected to the spraying module, and being used to photograph the arc wall surface and identify the terrain and dirt, and transmit the dirt information to the spraying module to guide the spraying action of the spraying module; A primary cleaning module, the primary cleaning module being mounted on the vehicle body (1), the primary cleaning module being used for applying a cleaning agent and scraping off dirt; the primary cleaning module comprising a first support plate (9), a first spring retractable rod (8), a first scraper (7) and a brush (6); the first end of the first spring retractable rod (8) being hingedly connected to the first support plate (9), the second end of the first spring retractable rod (8) being fixedly connected to the first scraper (7), the first spring retractable rod (8) being capable of elastic expansion and contraction and elastic twisting; the brush (6) being rotatably mounted on a side of the first scraper (7) away from the first spring retractable rod (8); the number of the first spring retractable rods (8) being multiple, and being radially distributed in the direction in which the crude oil storage tank adaptive multi-curvature arc wall cleaning robot advances or retreats; A secondary cleaning module, the secondary cleaning module is used for scraping dirt; the secondary cleaning module comprises a second support plate (12), a second spring retractable rod (11) and a second scraper (10); the first end of the second spring retractable rod (11) is hinged to the second support plate (12), the second end of the second spring retractable rod (11) is fixedly connected to the second scraper (10), and the second spring retractable rod (11) is elastically retractable and elastically twistable; the number of the second spring retractable rods (11) is plural, and they are radially distributed in the direction in which the crude oil storage tank adaptive multi-curvature arc wall cleaning robot advances or retreats; The first spring retractable rod (8) and the second spring retractable rod (11) have the same structure, and both comprise an outer sleeve, an inner slide rod and a spring; the first end of the outer sleeve is hinged to the first support plate (9) or the second support plate (12), the second end of the outer sleeve is fixedly connected to the first end of the spring, and the second end of the spring is fixedly connected to the first scraper (7) or the second scraper (10); the spring is sleeved on the outside of the inner slide rod; the first end of the inner slide rod is fixedly connected to the first scraper (7) or the second scraper (10), and the second end of the inner slide rod is slidably inserted into the outer sleeve; A collecting bag clamping module, the collecting bag clamping module being mounted on the vehicle body (1), the collecting bag clamping module being used to clamp the collecting bag so as to receive dirt scraped off by the primary cleaning module and dirt scraped off by the secondary cleaning module respectively through the collecting bag; the collecting bag clamping module comprising a spring clamping plate (14) and a spring contraction clamp (13), the spring clamping plate (14) being mounted on the upper rear end of the vehicle body (1), and a row of the spring contraction clamps (13) being mounted on the lower rear end of the vehicle body (1); the spring contraction clamp (13) comprising a telescopic rod (1301) and a spring clamp (1302), one end of the telescopic rod (1301) being connected to the vehicle body (1), and the other end of the telescopic rod (1301) being connected to the spring clamp (1302); the spring clamping plate (14) being used to clamp one side of the bag opening of the collecting bag, and the spring clamp (1302) being used to clamp the other side of the bag opening of the collecting bag; The first scraper (7) and the second scraper (10) are both provided with a chip leakage groove, so that the scraped dirt falls from the chip leakage groove into a collection bag below.

2. The crude oil tank adaptive multi-curvature arc wall cleaning robot according to claim 1 is characterized by: The vehicle body (1) comprises a chassis and an energy storage module fixed on the chassis; The energy storage module is connected to the driving structure via a wire to supply energy to the driving structure.

3. The crude oil tank adaptive multi-curvature arc wall cleaning robot according to claim 2 is characterized by: The driving structure comprises a first track wheel (205), a second track wheel (206), a magnetic pole pair (203), a rotor and a belt (204); the first track wheel (205) and the second track wheel (206) are both rotatably mounted on the shell, and the first track wheel (205) and the second track wheel (206) support the track from the inside; the magnetic pole pair (203) is fixed on the shell; the rotor is rotatably mounted on the shell, and the rotor is located between the magnetic pole pairs (203); the rotor comprises a rotor body and an energized coil (202) wound around the rotor body, and the energized coil (202) is electrically connected to the energy storage module via a brush, a commutator and a wire; the first track wheel (205) and the rotor are transmission-connected via the belt (204).

4. The crude oil tank adaptive multi-curvature arc wall cleaning robot according to claim 3 is characterized by: The housing comprises a support frame (207) and two insulating cover plates (209); the support frame (207) is located between the two insulating cover plates (209) and is respectively fixedly connected to the two insulating cover plates (209); and the drive structure is mounted on the support frame (207).

5. The crude oil tank adaptive multi-curvature arc wall cleaning robot according to claim 1 is characterized by: The track module (2) and the vehicle body (1) are connected by a ball joint via a ball rod (15) and a spherical block bayonet (201); the ball rod (15) comprises a cylindrical rod and a spherical block fixed to one end of the cylindrical rod; the spherical block is located on one side of the spherical block bayonet (201) and has a diameter greater than that of the spherical block bayonet (201); the diameter of the spherical block bayonet (201) is greater than the diameter of the cylindrical rod, so that the track module (2) and the vehicle body (1) can rotate relative to each other while limiting the maximum distance between the track module (2) and the vehicle body (1).

6. The crude oil tank adaptive multi-curvature arc wall cleaning robot according to claim 5 is characterized by: The ball rod (15) is fixed on the vehicle body (1), and the spherical block bayonet (201) is arranged on the housing.

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