Oil tank cleaning robot, cleaning system and cleaning method

Abstract

The invention belongs to the technical field of oil tank cleaning, and particularly relates to an oil tank cleaning robot, a cleaning system and a cleaning method. The cleaning device is arranged on the robot main body; the cleaning device comprises a nozzle cleaning assembly for cleaning milk oil sludge and a scraping cleaning assembly for cleaning stubborn oil sludge; the spray head cleaning assembly is movably connected with the robot body to change the height, and the scraping cleaning assembly is movably connected with the robot body to change the height. The invention provides an oil tank cleaning robot, a cleaning system and a cleaning method. A nozzle cleaning assembly sprays a cleaning agent to fluidize and recover soft oil sludge; and the scraping and cleaning assembly is used for scraping and recycling stubborn oil sludge at the bottom of the tank, so that soft and stubborn oil sludge is cleaned simultaneously, and the cleaning effect and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil tank cleaning, and in particular to an oil tank cleaning robot, a cleaning system and a cleaning method. Background Art

[0002] With the continuous development of oil storage and transportation technology, oil products will inevitably produce sediments during storage and transportation, such as inorganic matter, asphaltene, paraffin and other heavy oil components. These components naturally settle under the action of gravity and accumulate at the bottom of the oil tank, forming black and thick colloidal sludge, which not only occupies precious storage space, but also seriously affects the storage and transportation efficiency and safety of the oil tank.

[0003] Oil tank cleaning technology has undergone a gradual development process from manual cleaning to mechanical cleaning and then to automated cleaning. Early oil tank cleaning mainly relied on manual labor, which had problems such as large workload, long cycle, and high safety risks. With the advancement of science and technology, mechanical cleaning technology has gradually emerged and gradually replaced manual cleaning. However, at present, mechanical cleaning mainly uses nozzles to spray high-pressure fluid to clean oil tanks, but this method is not effective for cleaning stubborn sludge. In addition, due to the low density of oil, water is recovered first and oil is recovered later when recovering sludge, resulting in low cleaning efficiency. In addition, blocky sludge is recovered by manual tank bagging.

[0004] Compared with mechanical cleaning, the robot cleaning method reduces labor consumption. The current cleaning methods include nozzle spraying, brushing, and blade scraping, but different cleaning methods have different problems. Among them, nozzle cleaning is the main cleaning method.

[0005] For example, patent CN202410550612.1 "A wall-climbing robot cleaning and recovery device" uses a brush disc to scrub oil sludge, but there are safety hazards and the cleaning effect is not good.

[0006] For example, patent CN202311502455.9 "Oil tank cleaning method, cleaning robot and cleaning system" uses a blade for scraping, but it is mainly aimed at the cleaning and recovery of stubborn sludge. It does not mention emulsified sludge, and the robot's own pollution problem has not been mentioned or solved. In addition, the cleaning robot recovers the sludge by pumping at the bottom of the tank, which will form a vortex and affect the robot's walking. The recovery pipeline first recovers the unfluidized sludge, which can easily cause blockage in subsequent pipelines and affect the cleaning efficiency.

[0007] In view of the challenges faced by current oil tank cleaning technology, including low cleaning efficiency, safety hazards, poor treatment of certain types of sludge (such as milky sludge and stubborn sludge), and the problem of contamination carried by cleaning robots, there is an urgent need for an oil tank cleaning method, cleaning system and cleaning robot to solve the problems existing in the existing technology to a certain extent and improve the efficiency, effectiveness and safety of oil tank cleaning. Summary of the invention

[0008] The purpose of the present invention is to address the deficiencies in the prior art and to provide an oil tank cleaning robot, a cleaning system and a cleaning method, which can achieve simultaneous cleaning and recovery of sludge of different hardness and different spatial positions through the cooperation of a nozzle cleaning component and a scraping cleaning component, thereby solving to a certain extent the problems of low cleaning efficiency, safety hazards, poor treatment of milky sludge and stubborn sludge, and contamination carried by the cleaning robot.

[0009] In order to solve the deficiencies of the prior art, the first aspect of the present invention provides an oil tank cleaning robot, comprising:

[0010] The robot body has a walking mechanism at the bottom thereof that can walk in the oil tank;

[0011] A cleaning device is arranged on the robot body; the cleaning device comprises a nozzle cleaning component for cleaning milky sludge and a scraping cleaning component for cleaning stubborn sludge;

[0012] The nozzle cleaning component is movably connected to the robot body to change the height, and the scraping cleaning component is movably connected to the robot body to change the height.

[0013] Preferably, the nozzle cleaning assembly and the scraper cleaning assembly are distributed at both ends of the robot body in the moving direction.

[0014] Preferably, the nozzle cleaning assembly comprises:

[0015] A first recovery pipe, movably mounted on the robot body for pumping milky sludge;

[0016] A spray head unit, installed on the first recovery pipe to spray cleaning water;

[0017] The first telescopic member has one end hinged on the robot body and the other end hinged on the first recovery pipe so that the first recovery pipe rotates around the movable connection point between the first recovery pipe and the robot body.

[0018] Preferably, the scraping and cleaning assembly comprises:

[0019] a second recovery pipe, movably mounted on the robot body for pumping out stubborn sludge;

[0020] A reamer, which is arranged below the second recovery pipe and is used to crush and scrape off stubborn oil sludge;

[0021] The second telescopic member has one end hinged on the robot body and the other end hinged on the second recovery pipe so that the second recovery pipe rotates around the movable connection point between the second recovery pipe and the robot body.

[0022] Preferably, a lifting lug is provided on the robot body.

[0023] Furthermore, the number of the lifting ear plates is preferably 4, and the 4 lifting ear plates are distributed around the robot body.

[0024] The second aspect of the present invention provides an oil tank cleaning system, comprising the above-mentioned oil tank cleaning robot and a sludge recovery device:

[0025] The sludge recovery device comprises a crushing device, a filtering device, a heating device and a cyclone connected in sequence, the first recovery pipeline is connected to the filtering device, and the second recovery pipeline is connected to the crushing device;

[0026] The output end of the cyclone is connected to a water tank, the water tank is connected to a heater through a centrifugal pump, and the heater is connected to the oil tank to be cleaned.

[0027] Preferably, it also includes a purification device, a recombination separation device and a solid recovery device, the purification device is connected to the heating device and the output end of the cyclone, the recombination separation device is simultaneously connected to the filtering device and the cyclone, the solid recovery device is simultaneously connected to the recombination separation device and the purification device, and the output end of the recombination separation device is also connected to the purification device, and the purification device and the recombination separation device are also connected to the water tank.

[0028] Preferably, an agitator is provided in the water tank.

[0029] Preferably, it also includes an oil storage tank, which is connected to the oil tank to be cleaned through a reserve filtering device, and the input end of the oil storage tank is connected to the output end of the purification device.

[0030] A third aspect of the present invention provides an oil tank cleaning method, using the above oil tank cleaning system, comprising the following cleaning steps:

[0031] S010, transferring the crude oil in the oil tank to be cleaned to the oil storage tank;

[0032] S020, hoisting the robot body into the oil tank to be cleaned, and opening the nozzle to spray the cleaning agent;

[0033] S030, the robot body moves in the tank through the walking mechanism, and at the same time, the nozzle unit is turned on to clean the upper layer of emulsified sludge, and the reamer scrapes off the stubborn sludge in the tank to be cleaned;

[0034] S040, the first recovery pipeline and the second recovery pipeline respectively pump the sludge into the filtering device and the crushing device for recovery and treatment;

[0035] S050. After cleaning is completed, the robot body is hoisted to the manhole, and then the nozzle unit is turned on to spray the cleaning agent into the tank, flush the bottom of the tank and discharge the sewage.

[0036] The present invention has at least the following beneficial effects:

[0037] 1. The oil tank cleaning robot of the present invention utilizes a nozzle cleaning component and a scraping cleaning component to simultaneously clean and recover milky sludge and stubborn sludge, effectively improving the cleaning effect and cleaning efficiency and reducing the cleaning steps and equipment, without the need to replace the cleaning device; the nozzle cleaning component and the scraping cleaning component are respectively movably connected to the robot body to change the height position, so that the positions of the nozzle cleaning component and the scraping cleaning component can be adjusted according to actual conditions to adapt to milky sludge and stubborn sludge at different heights, greatly enhancing the cleaning effect; in addition, the scraping operation of the scraping cleaning component is performed in the sludge, rather than in the air of the oil tank, avoiding the problem of internal explosion of the oil tank due to static electricity generated by scraping the sludge, and reducing the degree of cleaning danger;

[0038] 2. The cleaning system of the present invention realizes the recovery route for solid impurities of different particle sizes through the cooperation of the first recovery pipeline and the second recovery pipeline, thereby avoiding pipeline blockage to the greatest extent. The heating device heats the cleaning agent and sludge, thereby improving the cleaning effect and avoiding the sludge from clogging the pipeline due to oil-water separation during transportation.

[0039] 3. The oil tank cleaning method of the present invention includes crude oil transfer, oil tank cleaning, and oil sludge recovery. It can efficiently and comprehensively clean the bottom and wall of the oil tank without human intervention, and reduces the cleaning equipment and cleaning process; wherein the cleaning robot enters the oil tank by hoisting, and the pipes and other devices connected to the cleaning robot are all hoisted rather than at the tail of the robot, which reduces the weight and power consumption of the cleaning robot to a certain extent, improves its flexibility and endurance in the oil tank, and avoids the problem of pollution carried by the pipeline. It can also reduce the pollution carried by the cleaning robot itself, that is, the cleaning robot will re-contaminate the cleaned area with the oil sludge it carries during the cleaning process, which greatly improves the cleaning effect and cleaning efficiency.

[0040] 4. The present invention distributes the nozzle cleaning component and the scraper cleaning component on both sides of the robot body so that they do not interfere with each other and can achieve simultaneous recovery of sludge in different spaces and with different hardness without hindering each other; the nozzle cleaning component sprays cleaning agent through the nozzle unit to fluidize the soft sludge while recovering it, and the nozzle cleaning component will adjust the angle according to the height of the sludge to achieve cleaning of sludge in different spaces, while the reamer of the scraper cleaning component crushes the stubborn sludge and is recovered by the recovery pipe at the same time, and the angle can be adjusted according to the thickness of the stubborn sludge. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of the nozzle cleaning device of the oil tank cleaning robot of the present invention when the temperature is 0 degrees;

[0042] Figure 2 It is a structural schematic diagram of the nozzle cleaning device of the oil tank cleaning robot of the present invention when the temperature is 0 degrees;

[0043] Figure 3 This is a schematic structural diagram of the nozzle cleaning device of the oil tank cleaning robot of the present invention when the nozzle cleaning device is at 90 degrees;

[0044] Figure 4 It is a structural schematic diagram of the oil tank cleaning system of the present invention;

[0045] Figure 5 It is a flow chart of the cleaning method of the present invention.

[0046] Figure numerals: 100-robot body, 110-walking mechanism, 120-lifting ear plate, 130-camera, 200-cleaning device, 210-nozzle cleaning assembly, 211-first recovery pipe, 212-nozzle unit, 213-first telescopic member, 220-scraping cleaning assembly, 221-second recovery pipe, 222-reamer, 223-second telescopic member, 300-sludge recovery device, 310-crushing device, 320-filtering device, 330-heating device, 340-cyclone, 350-water tank, 360-heater, 370-purification device, 380-recombination separation device, 390-solid recovery device, 400-oil storage tank, 410-reserve filtering device, 420-nitrogen generating device, 430-gas detection device, 600-retractable hose, 700-buckle, 900-oil tank to be cleaned. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0048] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. The orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when the application product is used, or the orientation or position relationship commonly understood by those skilled in the art. The terms "set", "open", "install", "connected" and "connected" should be understood in a broad sense. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. And in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0049] See also Figures 1 to 3, an oil tank cleaning robot includes a robot body 100 and a cleaning device 200. It can be understood that the robot body 100 is a prior art, and as long as the function of the robot can be realized, no specific limitation is made here.

[0050] The robot body 100 has a walking mechanism 110 at its bottom that can walk in the oil tank. The walking mechanism 110 is a prior art product that can drive the robot body 100 to walk. The walking mechanism 110 is preferably a crawler walking mechanism.

[0051] The cleaning device 200 is arranged on the robot body 100; the cleaning device 200 includes a nozzle cleaning component 210 for cleaning milky sludge and a scraping cleaning component 220 for cleaning stubborn sludge; the nozzle cleaning component 210 is movably connected to the robot body 100 to change the height, and the scraping cleaning component 220 is movably connected to the robot body 100 to change the height.

[0052] Specifically, by using the cooperation between the nozzle cleaning component 210 and the scraping cleaning component 220, the milky sludge and stubborn sludge can be cleaned and recovered at the same time, which effectively improves the cleaning effect and cleaning efficiency and reduces the cleaning steps and equipment, and there is no need to replace the cleaning device; the nozzle cleaning component 210 and the scraping cleaning component 220 are respectively movably connected to the robot body 100 to change the height position, so that the position of the nozzle cleaning component 210 and the scraping cleaning component 220 can be adjusted according to actual conditions to adapt to milky sludge and stubborn sludge at different heights, thereby greatly enhancing the cleaning effect; in addition, the scraping operation of the scraping cleaning component 220 is carried out in the sludge rather than in the air of the oil tank, which avoids the problem of internal explosion of the oil tank due to static electricity generated by scraping the sludge, thereby reducing the degree of cleaning danger.

[0053] Based on the above, the nozzle cleaning component 210 and the scraping cleaning component 220 are distributed at both ends of the moving direction of the robot body 100, and the forward power of the robot body 100 is used to drive the scraping cleaning component 220 to scrape off stubborn sludge, thereby reducing energy consumption. With this design, compared with setting the nozzle cleaning component 210 and the scraper cleaning component 220 on the same side, the robot body 100 is subjected to uneven force, which will make its movement unstable, and the two recovery pipes will move up and down, and there will be mutual obstruction. The present invention distributes the nozzle cleaning component 210 and the scraper cleaning component 220 on both sides of the robot body, so that the two do not interfere with each other and can achieve simultaneous recovery of sludge in different spaces and with different hardnesses without obstruction; the nozzle cleaning component 210 sprays cleaning agent through the nozzle unit 212 to fluidize the soft sludge while recovering it, and the nozzle cleaning component 210 will adjust the angle according to the height of the sludge to achieve sludge cleaning in different spaces, and the reamer 222 of the scraper cleaning component 220 crushes the stubborn sludge and is recovered and discharged by the second recovery pipe 221, and the angle can be adjusted according to the thickness of the stubborn sludge.

[0054] It is worth noting that in order to further improve the cleaning efficiency, a camera 130 is provided on the robot body 100 so as to view the situation inside the oil tank in real time and then adjust the movement of the robot body 100 to perform a comprehensive cleaning inside the tank.

[0055] Based on the above, in some instances, the nozzle cleaning assembly 210 includes: a first recovery pipe 211, movably mounted on the robot body 100 for pumping milky sludge; a nozzle unit 212, rotatably mounted on the first recovery pipe 211 for spraying cleaning water; a first telescopic member 213, one end of which is hinged to the robot body 100, and the other end is hinged to the first recovery pipe 211 so that the first recovery pipe 211 rotates around its movable connection point with the robot body 100.

[0056] The first recovery pipe 211 pumps the milky sludge, and the pump belongs to the prior art product, and the pump can be installed in the pipeline of the first recovery pipe 211. Specifically, for the milky sludge, the nozzle unit 212 is installed on the first recovery pipe 211. Specifically, the nozzle unit 212 includes a plurality of nozzles circumferentially distributed on the first recovery pipe 211, with higher spray intensity and wider fluidization range. Through the action of the first telescopic member 213, the pipe mouth of the first recovery pipe 211 can be flush with the bottom of the walking mechanism 110 of the robot body 100, and can be close to the bottom of the tank, so that the oil sludge close to the bottom of the tank can be recovered; at the same time, the first telescopic member can be extended to make the first recovery pipe 211 rotate, and then the nozzle can be adjusted to spray the cleaning agent obliquely to the tank wall to clean the tank wall, and at the same time, the height position of the nozzle unit 212 and the first recovery pipe 211 can be changed to adapt to milky sludge of different heights, so that the nozzle unit 212 can spray on the upper layer of the sludge, and the first recovery pipe 211 can first recover the oil floating on the surface after fluidization, and the recovery efficiency is high.

[0057] Based on the above, in some examples, the scraping and cleaning assembly 220 includes: a second recovery pipe 221, which is movably installed on the robot body 100 to pump stubborn sludge; a reamer 222, which is arranged below the second recovery pipe 221 to crush and scrape stubborn sludge, specifically, the reamer 222 is driven to rotate by power, and the power source belongs to the prior art, which can be a motor or an electric motor; a second telescopic member 223, one end of which is hinged on the robot body 100, and the other end is hinged on the second recovery pipe 221 so that the second recovery pipe 221 rotates around its movable connection point with the robot body 100. It should be noted that the second recovery pipe 221 pumps milky sludge, and the pump belongs to the prior art product, which can be a pump installed in the pipeline of the second recovery pipe 221.

[0058] The second recovery pipeline 221 pumps the milky sludge, and the pump is a prior art product, and the pump can be installed in the pipeline of the first recovery pipeline 221. Specifically, for stubborn oil sludge, the reamer 222 is installed below the second recovery pipe 221. After the reamer 222 crushes the stubborn oil sludge, it is immediately pumped and recovered by the second recovery pipe 221, avoiding the reamer 222 from carrying dirt and improving the cleaning effect, cleaning efficiency and recovery efficiency. The reamer 222 is lower than the bottom of the walking mechanism 110, which is conducive to crushing the stubborn oil sludge at the bottom of the tank. The setting of the second telescopic member 223 can realize the position adjustment of the second recovery pipe 221 and the reamer 222, so that the reamer 222 and the second recovery pipe 221 can move up and down to adapt to stubborn oil sludge of different thicknesses and heights, thereby improving the cleaning effect. At the same time, when the second recovery pipe 221 rotates downward, the reamer 222 cuts into the stubborn oil sludge with greater force and is easier to cut into the oil sludge. The second recovery pipe 221 continues to rotate until the reamer 222 is lower than the walking mechanism 110, thereby realizing the one-time crushing and recovery of the stubborn oil sludge from top to bottom, greatly improving the scraping and crushing efficiency. In addition, the scraping and cleaning component 220 walks in the opposite path to the robot body 100, and the forward momentum of the robot body 100 is used to drive the scraping and cleaning component 220 to scrape away stubborn sludge, thereby reducing energy consumption.

[0059] It is worth noting that the position pipeline around which the first recovery pipeline 211 and the second recovery pipeline 221 rotate with the movable connection point with the robot body 100 is a retractable hose 600. The retractable hose 600 belongs to the prior art product and can be selected for use as needed, as long as the normal rotation of the first recovery pipeline 211 and the second recovery pipeline 221 can be guaranteed. It can be understood that the first recovery pipeline 211 and the second recovery pipeline 211 are divided into a front half pipeline and a rear half pipeline. The rear half pipeline is fixed to the robot body 100 by a buckle 700 and the rear half pipeline is connected to the front half pipeline by the retractable hose 600, so that it can rotate smoothly to adjust the pipe mouth height of the first recovery pipeline 211 and the second recovery pipeline 211.

[0060] It can be understood that in the above embodiment, the first telescopic member 213 and the second telescopic member 223 can both be hydraulic telescopic rods, and of course can also be other existing products, such as electric telescopic rods.

[0061] Based on the above, in some examples, the robot body 100 is provided with a lifting lug 120, which is a prior art product, and can be welded to the robot body 100 or fixed to the robot body 100 by bolts. Furthermore, the number of the lifting lugs 120 is preferably 4, and the 4 lifting lugs 120 are distributed around the robot body 100, which is convenient for lifting and makes the lifting operation safe. Lifting can reduce the weight and energy consumption of the robot, and avoid the problem of pollution carrying in the robot pipeline and other devices.

[0062] Reference Figure 4 The second aspect of the present invention provides an oil tank cleaning system, comprising the above-mentioned oil tank cleaning robot and the sludge recovery device 300:

[0063] The sludge recovery device 300 includes a crushing device 310, a filtering device 320, a heating device 330 and a cyclone 340 connected in sequence, the first recovery pipe 211 is connected to the filtering device 320, and the second recovery pipe 221 is connected to the crushing device 310;

[0064] The output end of the cyclone 340 is connected to a water tank 350 , the water tank 350 is connected to a heater 360 via a centrifugal pump, and the heater 360 is connected to an oil tank 900 to be cleaned.

[0065] Through the cooperation of the first recovery pipeline 211 and the second recovery pipeline 221, a recovery route for solid impurities of different particle sizes is realized, and pipeline blockage is avoided to the greatest extent. The heating device 330 heats the cleaning agent and sludge to improve the cleaning effect and avoid the sludge from cooling and clogging the pipeline during oil-water separation during transportation. Specifically, the first recovery pipeline 211 and the filtering device 320, the heating device 330, and the cyclone 340 form a sludge recovery pipeline. For the milky sludge pumped out from the first recovery pipeline 211, the milky sludge only contains solid impurities with smaller particle sizes and does not need to be crushed; and for the stubborn sludge composed of blocky solid impurities with larger particle sizes, the second recovery pipeline 221 and the crushing device 310, the filtering device 320, the heating device 330, and the cyclone 340 form another sludge recovery pipeline for recycling and processing. For the stubborn sludge pumped out from the second recovery pipeline 221, the present invention adopts the setting of two pipelines, which effectively realizes the simultaneous recycling and processing of the discharged milky sludge and the stubborn sludge, and can effectively avoid the stubborn sludge from clogging the subsequent recycling and processing pipelines.

[0066] Then, the light oil and water separated by the cyclone 340 are pumped into the water tank 350 by a centrifugal pump, and the oil-water mixture in the water tank 350 is pumped to the heater 360 for heating, and then pumped to the oil tank 900 to be cleaned to clean the fluidized sludge.

[0067] Furthermore, an agitator is provided in the water tank 350. The agitator is a prior art product and is installed at the bottom of the water tank 350. It can prevent the oil and water in the water tank 350 from separating and reducing the cleaning effect of the cleaning agent. The agitator mixes water and light oil into an oil-water mixture, and the light oil can accelerate the fluidization of the sludge.

[0068] Based on the above, in some examples, it also includes a purification device 370, a recombination separation device 380 and a solid recovery device 390, the purification device 370 is connected to the heating device 330 and the output end of the cyclone 340, the recombination separation device 380 is simultaneously connected to the filtering device 320 and the cyclone 340, the solid recovery device 390 is simultaneously connected to the recombination separation device 380 and the purification device 370, and the output end of the recombination separation device 380 is also connected to the purification device 370, and the purification device 370 and the recombination separation device 380 are also connected to the water tank 350. Further, it also includes an oil storage tank 400, which is connected to the oil tank 900 to be cleaned through the reserve filtering device 410, and the input end of the oil storage tank 400 is connected to the output end of the purification device 370. With this solution, after the cleaning is completed, the robot body 100 is hoisted and moved out of the oil tank 900 to be cleaned. At this time, the oil outlet of the oil tank can be connected to the filter device 320 through a pipeline, and then the cleaning agent is pumped into the oil tank to flush the walking path of the cleaning robot body 100, and then discharged. The discharged sludge passes through the filter device 320, the heating device 330, enters the purification device 370, and the heavy component separation device 380, and after the light oil, heavy component, water, and solid impurities are separated, the light oil enters the oil storage tank 400, the water enters the water tank 350, and the heavy component and solid impurities enter the solid recovery device 390 to avoid polluting the environment.

[0069] The oil storage tank 400 is used to receive the oil transferred from the oil tank 900 to be cleaned. The oil tank 900 to be cleaned serves as the original storage container for crude oil, wherein the crude oil contains a certain amount of impurities, such as particulate matter, moisture, heavy components or corrosive substances. If these impurities directly enter the oil storage tank 400 with the crude oil, it will have an adverse effect on the quality of the crude oil and subsequent processing equipment. The reserve filter device 410 can to a certain extent prevent the impurities in the oil tank 900 to be cleaned from entering the oil storage tank 400, thereby improving the purity and quality of the crude oil and ensuring the efficiency and safety of crude oil transfer.

[0070] It should be noted that the reserve filtration device 410, the purification device 370, the heavy component separation device 380, the solid recovery device 390, the crushing device 310, the filtration device 320, the heating device 330, the cyclone 340, and the heater 360 are all existing technology products, and commercial products can be selected according to actual needs.

[0071] Based on the above, in other embodiments, the cleaning system of the present invention can also be equipped with a nitrogen generator 420. Specifically, the nitrogen generator 420 fills nitrogen into the oil tank. The inert atmosphere formed inside the oil tank 900 to be cleaned can reduce the risk of fire and explosion, and provide a safer environment for cleaning operations. At the same time, nitrogen can also reduce the emission of harmful gases in the tank and protect the health of operators. The wire tube storage device realizes cleaning, and the nitrogen generator 420 belongs to the prior art product. The filling of nitrogen into the oil tank also belongs to the prior art, which will not be repeated here. Of course, a gas detection device 430 can also be provided to detect the gas inside the oil tank.

[0072] The cleaning system of the present invention may also be provided with a central control room, which controls the operation of the cleaning robot to perform silt removal operations and controls the subsequent sludge recovery device. A water supply device may also be provided, which is connected to the water tank 350 and is used to replenish water in time to prevent insufficient water during the cleaning process, and to recover the water in the water tank 350 after the cleaning is completed. The central control room and the water supply device are prior art products.

[0073] It is worth noting that a wire pipe recovery device may be provided to realize the retraction and release of each pipeline. The wire pipe recovery device belongs to a prior art product and may be a winding roller.

[0074] Reference Figure 5 The third aspect of the present invention provides an oil tank cleaning method, using the above oil tank cleaning system, including the following cleaning steps:

[0075] S010, transferring the crude oil in the oil tank to be cleaned 900 to the oil storage tank 400; specifically, the crude oil in the oil tank to be cleaned 900 is pumped and filtered by the reserve filter device 410 and then enters the oil storage tank 400;

[0076] S020, hoisting the robot body 100 into the oil tank 900 to be cleaned, and opening the spray head unit 212 to spray the cleaning agent; specifically, the robot body 100 is hoisted into the tank through the manhole on the top, and during the descent of the robot body 100, the spray head unit 212 is opened to spray the cleaning agent to fluidize the oil sludge in the tank;

[0077] S030, the robot body 100 walks in the tank through the walking mechanism 110, and at the same time, the nozzle unit 212 is turned on to clean the upper layer of milky sludge, and the reamer 222 scrapes off the stubborn sludge in the tank 900 to be cleaned;

[0078] S040, the first recovery pipeline 211 and the second recovery pipeline 221 respectively pump the sludge into the filtering device 320 and the crushing device 310 for recovery and treatment;

[0079] S050. After the cleaning is completed, the robot body 100 is hoisted to the manhole, and then the nozzle unit 212 is turned on to spray the cleaning agent into the tank, flush the bottom of the tank and then discharge the sewage.

[0080] Specifically, the cleaning process is as follows: crude oil is transferred, the crude oil in the tank 900 to be cleaned passes through the filtering device 410 and enters the spare oil storage tank 400, at which time a portion of the light oil will be transported into the water tank 350; S020, the robot body 100 is hoisted into the oil tank 900 to be cleaned, at which time the oil-water mixture composed of the cleaning agent light oil and water in the water tank 350 enters the heating device 360 ​​through a pump for heating, and then is pumped to the nozzle unit 212 of the nozzle cleaning assembly 210 for spraying; S030, the robot body 100 walks in the tank through the walking mechanism 110, and at the same time, the nozzle unit 212 is turned on to clean the oil on the tank. The reamer 222 scrapes off the stubborn sludge in the tank 900 to be cleaned; S040 and the emulsified sludge enter the filtering device 320 through the recovery pipe 211, and then enter the heating device 330 for heating, and then enter the cyclone 340 to separate the light oil, heavy components and solids, and the light oil enters the water tank 350 through the pump. At this time, the heavy components and solids separated by the filtering device 320 and the cyclone 340 enter the heavy component separation device 380, and the separated solids and heavy components enter the heavy component and solid impurity recovery device 390, and the separated light oil enters the purification device 370, and then the purified light oil enters the water tank 350. The process for stubborn sludge is basically the same, except that the sludge passes through the crushing device 310 before entering the filtering device 320 when it leaves the tank; S050, after the cleaning of the oil storage tank is completed, the robot body 100 is hoisted to the manhole, and the cleaning agent is sprayed through the nozzle unit 212 to clean the walking path of the robot body 100 at the bottom of the oil storage tank, and the oil outlet at the bottom of the oil storage tank and the filtering device 320 are connected through a pipeline to recycle the sewage after cleaning, and the sewage enters the filtering device 320 through the oil outlet at the bottom of the oil storage tank, and then enters the heating device 330, and then the channel valve entering the cyclone 340 is closed, so that the sewage flowing out of the heating device 330 enters the purification device 370, and the purified light oil enters the spare oil storage tank 400, the separated water enters the water tank 350, and the separated heavy components and solid impurities enter the heavy component and solid impurity recovery device 390.

[0081] The oil tank cleaning method of the present invention includes crude oil transfer, oil tank cleaning, and oil sludge recovery, and efficiently and comprehensively cleans the bottom and wall of the oil tank without human intervention, and reduces cleaning equipment and cleaning processes; wherein the cleaning robot enters the oil tank by hoisting, and the pipelines and other devices connected to the cleaning robot are all hoisted rather than at the tail of the robot, which reduces the weight and power consumption of the cleaning robot to a certain extent, improves its flexibility and endurance in the oil tank, and avoids the problem of pollution carried by the pipeline, and can solve the pollution carried by the cleaning robot itself, that is, the cleaning robot will re-contaminate the cleaned area with the oil sludge it carries during the cleaning process, which greatly improves the cleaning effect and cleaning efficiency.

[0082] In summary, the present invention can simultaneously clean, recycle and process milky sludge and stubborn sludge, effectively improving the cleaning effect and cleaning efficiency and reducing the cleaning steps and equipment. There is no need to replace the cleaning device, thereby improving the cleaning efficiency and quality, saving cleaning time and reducing manual labor.

[0083] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes, and can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention.

Claims

1. An oil tank cleaning robot, characterized in that: include: The robot body (100) has a walking mechanism (110) at the bottom thereof that can walk in the oil tank; A cleaning device (200) is arranged on the robot body (100); the cleaning device (200) comprises a nozzle cleaning component (210) for cleaning milky sludge and a scraping cleaning component (220) for cleaning stubborn sludge; The nozzle cleaning component (210) is movably connected to the robot body (100) to change the height, and the scraping cleaning component (220) is movably connected to the robot body (100) to change the height.

2. The oil tank cleaning robot according to claim 1, characterized in that: The nozzle cleaning component (210) and the scraper cleaning component (220) are distributed at two ends of the robot body (100) in the direction of travel.

3. The oil tank cleaning robot according to claim 1, characterized in that: The nozzle cleaning assembly (210) comprises: A first recovery pipe (211) movably mounted on the robot body (100) for pumping milky sludge; A spray head unit (212) installed on the first recovery pipe (211) for spraying cleaning water; A first telescopic member (213) has one end hinged on the robot body (100) and the other end hinged on the first recovery pipe (211) so that the first recovery pipe (211) rotates around its movable connection point with the robot body (100).

4. The oil tank cleaning robot according to claim 1, characterized in that: The scraping and cleaning assembly (220) comprises: A second recovery pipe (221) movably mounted on the robot body (100) for pumping stubborn oil sludge; A reamer (222) is arranged below the second recovery pipe (221) to crush and scrape off stubborn oil sludge; A second telescopic member (223) has one end hinged on the robot body (100) and the other end hinged on the second recovery pipe (221) so that the second recovery pipe (221) rotates around its movable connection point with the robot body (100).

5. The oil tank cleaning robot according to claim 1, characterized in that: Preferably, a lifting lug plate (120) is provided on the robot body (100).

6. An oil tank cleaning system, characterized in that: The oil tank cleaning robot and sludge recovery device (300) comprising the following: The sludge recovery device (300) comprises a pulverizing device (310), a filtering device (320), a heating device (330) and a cyclone (340) which are connected in sequence, the first recovery pipe (211) is connected to the filtering device (320), and the second recovery pipe (221) is connected to the pulverizing device (310); The output end of the cyclone (340) is connected to a water tank (350), the water tank (350) is connected to a heater (360) via a centrifugal pump, and the heater (360) is connected to an oil tank (900) to be cleaned.

7. The oil tank cleaning system according to claim 6, characterized in that: The invention also includes a purification device (370), a recombination separation device (380) and a solid recovery device (390). The purification device (370) is connected to the heating device (330) and the output end of the cyclone (340). The recombination separation device (380) is also connected to the filtering device (320) and the cyclone (340). The solid recovery device (390) is also connected to the recombination separation device (380) and the purification device (370). The output end of the recombination separation device (380) is also connected to the purification device (370). The purification device (370) and the recombination separation device (380) are also connected to the water tank (350).

8. The oil tank cleaning system according to claim 6, characterized in that: The water tank (350) is provided with a stirrer.

9. The oil tank cleaning system according to claim 6, characterized in that: It also includes an oil storage tank (400), which is connected to the oil tank to be cleaned (900) via a reserve filtering device (410).

10. An oil tank cleaning method, using the oil tank cleaning system according to any one of claims 6 to 9, characterized in that: The cleaning steps include: S010, transferring the crude oil in the oil tank to be cleaned (900) to the oil storage tank (400); S020, hoisting the robot body (100) into the oil tank (900) to be cleaned, and simultaneously opening the spray head unit (212) to spray the cleaning agent; S030, the robot body (100) moves in the tank via the walking mechanism (110), and at the same time, the spray head unit (212) is turned on to clean the upper layer of emulsified oil sludge, and the reamer (222) scrapes off the stubborn oil sludge in the tank (900) to be cleaned; S040, the first recovery pipeline (211) and the second recovery pipeline (221) respectively pump the sludge into the filtering device (320) and the crushing device (310) for recovery and treatment; S050, after the cleaning is completed, the robot body (100) is hoisted to the manhole, and then the nozzle unit (212) is turned on to spray the cleaning agent into the tank, rinse the bottom of the tank and then discharge the sewage.

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