Oil tank cleaning robot

Abstract

The present application discloses an oil tank cleaning robot, which relates to the technical field of oil tank cleaning, and comprises a mobile chassis and a sewage suction pipe, wherein a working frame is fixed on the mobile chassis, and the sewage suction pipe is fixed on the working frame; a support frame is movably connected to the working frame, and a gas detector and two cameras are respectively installed on the support frame, and fill lights are installed on the two cameras; the working frame and the support frame are connected by a folding device, and the folding device is used to adjust the angle of the support frame, and two identification plates are fixed on the top of the support frame; it also comprises a cleaning component; the cleaning component comprises a sewage suction seat and a crushing part; the sewage suction seat is a shell with a hollow interior and an opening on one side, and it is movably connected to the working frame, one end of the sewage suction pipe is communicated with the interior of the sewage suction seat, and an adjusting part is fixed on the bottom of the working frame; the crushing part comprises a driving part and a crushing knife; the oil tank cleaning robot can replace manual entry into the oil tank for dredging, and has high safety.

Description

Technical Field

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

[0002] After an oil storage tank has been used for a period of time, impurities in the crude oil will be deposited on the bottom and walls of the tank, reducing the effective capacity of the tank. Sediments and corrosion products in the tank can easily cause blockage and leakage, leading to safety accidents. Therefore, it is necessary to regularly inspect and maintain the oil storage tank and remove the sludge in the tank.

[0003] Manual dredging requires a lot of labor, and the oxygen concentration in the tank is low and there are toxic gases, which makes manual dredging difficult and unsafe. To solve the above problems, an oil tank cleaning robot is proposed, which can replace manual entry into the tank to complete the dredging operation. Summary of the invention

[0004] The embodiment of the present application provides an oil tank cleaning robot, thereby solving the problem in the prior art that manual entry into the oil tank for cleaning is difficult and unsafe.

[0005] The embodiment of the present application provides an oil tank cleaning robot, comprising a mobile chassis and a sewage suction pipe, wherein a working frame is fixed on the mobile chassis, and the sewage suction pipe is fixed on the working frame;

[0006] The work frame is movably connected to a support frame, on which a gas detector and two cameras are respectively installed, and both cameras are installed with fill lights;

[0007] The working frame and the supporting frame are connected by a folding device, which is used to adjust the angle of the supporting frame. Two identification plates are fixed on the top of the supporting frame;

[0008] Also includes a cleaning component;

[0009] The cleaning assembly includes a dirt suction seat and a crushing part;

[0010] The sewage suction seat is a shell with a hollow interior and an opening on one side, and is movably connected to the working frame, one end of the sewage suction pipe is communicated with the interior of the sewage suction seat, and an adjusting part is movably connected to the working frame;

[0011] The crushing part comprises a driving part and a crushing knife. The driving part is fixed at the opening end of the sewage suction seat, and the driving part is used to drive the crushing knife to crush the hard oil sludge.

[0012] Furthermore, the cleaning assembly also includes a crushing part;

[0013] The crushing part includes a gas bag and an air intake pipe;

[0014] The crushing knife is provided with a through groove, a gas bag is fixed in the through groove, one end of the air inlet pipe extends into the gas bag, and a crushing plate is fixed on the gas bag;

[0015] A columnar mounting seat is fixed on the driving end of the driving part, and a fixing plate is fixed on the mounting seat near the sewage suction seat;

[0016] An air guide tube is fixed on the fixing plate near the gas bag, and the air guide tube is connected to the free end of the air inlet pipe;

[0017] An annular tube is fixed on the side of the mounting seat, and the annular tube is used to inflate and deflate the air guide tube, so that the gas soft bag expands and contracts repeatedly, driving the crushing plate to repeatedly hit the hard oil mud.

[0018] Furthermore, there are multiple fixing plates, and two crushing knives are fixed on one fixing plate, and the two crushing knives are parallel;

[0019] There are multiple crushing parts, one crushing part is located in one crushing knife, two air guide pipes are fixed on one fixing plate, and one air guide pipe is connected to the free end of one air inlet pipe;

[0020] A plurality of branch pipes are fixed on the annular pipe, one branch pipe extends into a fixed plate, and one branch pipe supplies air to two air guide pipes on the fixed plate;

[0021] A ventilation pipe is fixed on the annular pipe, the ventilation pipe is communicated with the inside of the annular pipe, and the other end of the ventilation pipe is connected with the air pump.

[0022] Furthermore, the air guide pipe is used to inflate and deflate the air inlet pipe, so that the gas bags in the two crushing knives expand and contract at the same time, and drive the two crushing plates to repeatedly perform hammering actions.

[0023] Furthermore, there is a gap between the two crushing knives, and the gap is in the range of 5 cm to 6 cm.

[0024] Furthermore, a protective cover is fixed on the top of the sewage suction seat, and the protective cover is a quarter arc-shaped plate and there is a gap between the protective cover and the crushing knife;

[0025] A collecting trough is fixed at the bottom of the protective cover, and through holes are evenly spaced at the bottom of the collecting trough;

[0026] The cleaning assembly also includes a feeding portion;

[0027] The feeding part comprises a pumping pipe and a feeding pipe, one end of the pumping pipe extends into the collecting tank, and the other end of the pumping pipe is connected to the delivery pump;

[0028] The feed end of the feed pipe is connected to the delivery pump, and the discharge end of the feed pipe is located in front of the sewage suction seat. The hard oil sludge in the collection tank is sucked into the feed pipe through the suction pipe, so that the hard oil sludge is sprayed out from the feed pipe.

[0029] Furthermore, a water pump is fixed on the sewage suction seat, a water inlet pipe is fixed on the water inlet end of the water pump, and a water outlet pipe is fixed on the water outlet end of the water pump;

[0030] An annular fixed pipe is fixed in the sewage suction seat near the driving part, the free end of the water outlet pipe is connected to the fixed pipe, and a plurality of nozzles are fixed on the fixed pipe toward the crushing knife.

[0031] Furthermore, the cleaning assembly also includes a flushing portion;

[0032] The flushing part includes a water spray pipe, which is fixed to the top of the sewage suction seat through a bracket, and the water spray pipe is located in front of the protective cover;

[0033] The water spray pipe is evenly spaced and fixed with a plurality of nozzles one and two. The water spray end of the nozzle one is parallel to the ground, and the water spray end of the nozzle two is away from the protective cover and tilted upward, with an inclination angle between 40° and 50°.

[0034] The water spray pipe is fixed with a feed seat with a hollow interior, the feed seat is communicated with the interior of the water spray pipe, the water outlet pipe is fixed with a water guide pipe, and the water guide pipe is fixed with a valve;

[0035] The free end of the water guide pipe extends into the feed seat, and the discharge end of the feed pipe extends into the feed seat.

[0036] Furthermore, a water storage seat is fixed on the top of the protective cover, and a plurality of nozzles 2 are fixed on the water storage seat near the collecting tank;

[0037] A water distribution pipe is fixed on the water outlet pipe, and the water outlet end of the water distribution pipe extends into the water storage seat;

[0038] The water spraying end of the second spray head is inclined toward the arc surface of the protective cover.

[0039] Furthermore, a cleaning part is fixed at the bottom of the dirt suction seat;

[0040] The cleaning part comprises a fixed seat, which is a hollow box body and a telescopic part is fixed inside the fixed seat, a traction plate is fixed at the bottom of the telescopic part, and a brush plate is fixed at the bottom of the traction plate;

[0041] The bottom of the fixing seat is provided with a through hole, in which two sealing plates are movably connected, and two elastic membranes are fixed on the traction plate, one elastic membrane being connected to one sealing plate.

[0042] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0043] The equipment is sent into the oil tank through the mobile chassis and cleaning components, and the mobile chassis drives the equipment to move autonomously in the oil tank. The vacuum suction pump truck provides suction power for the suction pipe to extract the sludge in the oil tank. At the same time, the driving part drives the crushing knife to rotate and crush the hard sludge in the sludge. The oil tank cleaning robot can not only replace manual entry into the oil tank for dredging, but also crush the hard sludge in the oil sludge, thereby improving the dredging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of the oil tank cleaning robot of the present invention;

[0045] Figure 2 It is a three-dimensional structural schematic diagram of the positional relationship between the dirt suction seat and the crushing part of the oil tank cleaning robot of the present invention;

[0046] Figure 3 It is a schematic diagram of the cross-sectional three-dimensional structure of the dirt suction seat of the oil tank cleaning robot of the present invention;

[0047] Figure 4 It is a structural schematic diagram of the connection relationship between the water outlet pipe and the fixed pipe of the oil tank cleaning robot of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the positional relationship between the mounting base and the annular pipe of the oil tank cleaning robot of the present invention;

[0049] Figure 6 It is a schematic diagram of the three-dimensional structure of the oil tank cleaning robot of the present invention after the fixed plate and the crushing knife are separated;

[0050] Figure 7 It is a schematic diagram of the three-dimensional structure of the crushing knife section of the oil tank cleaning robot of the present invention;

[0051] Figure 8 It is a schematic diagram of the structure of the gas soft bags on the two crushing knives of the oil tank cleaning robot of the present invention after expansion;

[0052] Fig. 9 This is a bottom-up three-dimensional structural diagram of the flushing part of the oil tank cleaning robot of the present invention;

[0053] Fig.10 It is a structural schematic diagram of the connection relationship between the feeding pipe and the feeding seat of the oil tank cleaning robot of the present invention;

[0054] Fig.11 It is a structural schematic diagram of the positional relationship between the protective cover and the crushing part of the oil tank cleaning robot of the present invention;

[0055] Fig.12 It is a structural schematic diagram of the connection relationship between the water outlet pipe and the water distribution pipe of the oil tank cleaning robot of the present invention;

[0056] Fig.13 It is a structural schematic diagram of the positional relationship between the protective cover and the water storage seat of the oil tank cleaning robot of the present invention;

[0057] Fig.14 This is a schematic diagram of the three-dimensional structure of the protective cover of the oil tank cleaning robot of the present invention;

[0058] Fig.15 It is a structural schematic diagram of the positional relationship between the cleaning part and the dirt suction seat of the oil tank cleaning robot of the present invention;

[0059] Fig.16 It is a schematic diagram of the cross-sectional three-dimensional structure of the fixing seat of the oil tank cleaning robot of the present invention;

[0060] Fig.17 This is a schematic structural diagram of the state in which the brush plate of the oil tank cleaning robot of the present invention extends out of the fixing seat.

[0061] In the figure: 100, mobile chassis; 110, sewage suction pipe; 120, support frame; 121, gas detector; 122, camera; 130, folding device; 140, working frame; 141, adjustment unit;

[0062] 200, cleaning assembly; 210, dirt suction seat; 211, cleaning part; 2111, fixing seat; 2112, telescopic part; 2113, traction plate; 2114, brush plate; 2115, elastic membrane; 2116, sealing plate;

[0063] 220, crushing part; 221, driving part; 222, guardrail;

[0064] 223, mounting seat; 2231, annular pipe; 2232, branch pipe; 2233, ventilation pipe;

[0065] 224, fixing plate; 2241, air guide tube; 225, crushing knife;

[0066] 227, crushing part; 2271, gas soft bag; 2272, air intake pipe; 2273, crushing plate;

[0067] 230, water inlet pipe; 231, water outlet pipe; 232, fixed pipe; 2321, sprinkler head 1; 233, water guide pipe; 234, water distribution pipe;

[0068] 240, protective cover; 2401, collecting tank; 241, water storage seat; 2411, nozzle 2;

[0069] 250. Feeding department; 251. Pumping pipe; 252. Feeding pipe;

[0070] 260, flushing section; 261, water spray pipe; 2611, nozzle 1; 2612, nozzle 2; 262, feed seat. DETAILED DESCRIPTION

[0071] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0072] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0074] like Figures 1 to 8 As shown, the present application proposes an oil tank cleaning robot, comprising a mobile chassis 100 and a sewage suction pipe 110, wherein a working frame 140 is fixed on the mobile chassis 100, and the sewage suction pipe 110 is fixed on the working frame 140, and the mobile chassis 100 is used to drive the sewage suction pipe 110 to move freely in the oil tank, and has a small size and can reach the narrow space at the edge of the oil tank;

[0075] The work frame 140 is movably connected to a support frame 120, and a gas detector 121 and two cameras 122 are respectively installed on the support frame 120. The gas detector 121 and the two cameras 122 are electrically connected to the external console. The camera 122 is a full-color night vision explosion-proof camera that can restore the real situation in the oil tank. The gas detector 121 is used to detect hydrogen sulfide, oxygen, nitrogen and combustible gas in the oil tank, which is convenient for detecting the change of gas concentration before and after cleaning in the oil tank to ensure the safety of the cleaning work. The two cameras 122 are both equipped with fill lights, which are used to improve the clarity of the video picture. One camera 122 shoots the picture in the front direction of the forward direction, and the other camera 122 shoots the picture behind the forward direction, which is convenient for comprehensive monitoring;

[0076] The working frame 140 and the supporting frame 120 are connected via a folding device 130. The folding device 130 is a hydraulic cylinder and is fixed on the working frame 140. The folding device 130 is used to adjust the angle of the supporting frame 120. Two identification plates are fixed on the top of the supporting frame 120. In the initial state, the folding device 130 is in a retracted state. At this time, the supporting frame 120 is folded on the working frame 140, which does not affect the equipment entering the oil tank. After the equipment enters the oil tank, the supporting frame 120 is unfolded by the folding device 130, and the cleaning environment in the oil tank is monitored in real time by the gas detector 121 and the camera 122.

[0077] It is worth mentioning that the two identification plates on the top of the support frame 120 can be extended and adjusted in height, one identification plate represents the left and the other identification plate represents the right. Because the equipment can not only be used in oil storage tanks, but also can be applied to dredging and maintenance work in sewage pools, refineries, lakes, rivers, etc., when the equipment is used in deep water areas, the gas detector 121 and the two cameras 122 are removed, and the position of the robot is identified by the identification plates to facilitate operation of its moving direction.

[0078] It also includes a cleaning component 200, which is used to clean the oil sludge in the oil tank;

[0079] The cleaning assembly 200 includes a dirt suction seat 210 and a crushing part 220;

[0080] The sewage suction seat 210 is a shell with a hollow interior and an opening on one side, and is movably connected to the working frame 140. One end of the sewage suction pipe 110 is communicated with the interior of the sewage suction seat 210, and the other end of the sewage suction pipe 110 is connected to a vacuum sewage suction pump truck, which is used to provide sewage suction power. The working frame 140 is movably connected with an adjustment part 141, which is a hydraulic cylinder and is used to drive the sewage suction seat 210 to rise and fall, so as to better absorb the sludge.

[0081] The crushing part 220 includes a driving part 221 and a crushing blade 225. The crushing part 220 is used to crush the hard sludge in the sludge, so as to better suck the sludge and prevent clogging;

[0082] The driving part 221 is fixed to the open end of the dirt suction seat 210 . The driving part 221 is a motor. The driving part 221 is used to drive the crushing knife 225 to crush the hard oil sludge. The crushing part 227 is located in the crushing knife 225 .

[0083] It should be noted that there is a large amount of hard sludge in the oil tank. The hard sludge is accumulated from solid impurities and sand and gravel in the oil product. It has high strength and hardness and is very easy to clog the suction pipe 110 during the suction process. The crushing part 220 can be used to crush the hard sludge in the oil sludge, thereby reducing the volume of the hard sludge and facilitating transportation.

[0084] Specifically, if Figures 1 to 8 As shown, the cleaning assembly 200 further includes a crushing portion 227;

[0085] The crushing part 227 includes a gas bag 2271 and an air inlet pipe 2272;

[0086] The crushing knife 225 is provided with a through groove, the gas bag 2271 is fixed in the through groove, the air inlet pipe 2272 is fixed on the crushing knife 225, and one end of the air inlet pipe 2272 extends into the gas bag 2271, the connection between the air inlet pipe 2272 and the gas bag 2271 is airtightly fixed, and a crushing plate 2273 is fixed on the gas bag 2271, and the crushing plate 2273 is used to increase the contact strength with the hard oil sludge, so as to better crush the hard oil sludge;

[0087] A columnar mounting seat 223 is fixed on the driving end of the driving part 221, and a fixing plate 224 is fixed on the mounting seat 223 near the dirt suction seat 210;

[0088] An air guide tube 2241 is fixed on the fixing plate 224 near the gas bag 2271, and the air guide tube 2241 is connected to the free end of the air inlet pipe 2272;

[0089] A ring-shaped tube 2231 is fixed on the side of the mounting seat 223. The ring-shaped tube 2231 is connected to the air pump through a pipeline. The air pump is fixed at the bottom of the driving part 221. The ring-shaped tube 2231 is connected to the air guide tube 2241 through a pipeline. The axis of the ring-shaped tube 2231 coincides with the axis of the mounting seat 223, and does not affect the rotational movement of the driving part 221. The ring-shaped tube 2231 is used to inflate and deflate the air guide tube 2241, so that the gas bag 2271 expands and contracts repeatedly, driving the crushing plate 2273 to repeatedly hit the hard oil mud.

[0090] It is worth noting that during the crushing process, the air pipe 2241 is repeatedly inflated and deflated, so that the gas bag 2271 drives the crushing plate 2273 to perform repeated hammering actions, further crushing the hard oil sludge at the crushing knife 225 and improving the dredging efficiency.

[0091] Specifically, if Figures 6 to 8 As shown, there are multiple fixing plates 224, and two crushing knives 225 are fixed on one fixing plate 224, and the two crushing knives 225 are parallel;

[0092] There are multiple crushing parts 227, one crushing part 227 is located in one crushing knife 225, two air guide pipes 2241 are fixed on one fixed plate 224, and one air guide pipe 2241 is connected to the free end of an air inlet pipe 2272, that is, the two air guide pipes 2241 on one fixed plate 224 are respectively connected to the air inlet pipes 2272 of the two crushing knives 225 on the fixed plate 224;

[0093] A plurality of branch pipes 2232 are fixed on the annular pipe 2231. One branch pipe 2232 extends into one fixed plate 224. One branch pipe 2232 takes air into two air guide pipes 2241 on the fixed plate 224. The air taken into the branch pipe 2232 can be simultaneously sent into the two air guide pipes 2241.

[0094] A ventilation pipe 2233 is fixed on the annular tube 2231. The ventilation pipe 2233 is communicated with the inside of the annular tube 2231. The other end of the ventilation pipe 2233 is connected to the air pump. The ventilation pipe 2233 is used to inflate and deflate the annular tube 2231. An installation space is opened in the mounting seat 223. The air pump is fixed in the installation space of the mounting seat 223, which does not occupy external space and avoids pipe entanglement.

[0095] It is easy to understand that air is pumped into the ventilation tube 2233, and the gas is distributed to each branch tube 2232 through the annular tube 2231. The two air guide tubes 2241 on each fixed plate 224 are supplied with air through the branch tubes 2232, so that the gas enters the gas bag 2271 through the air intake pipe 2272.

[0096] Specifically, if Figures 6 to 8 As shown, the air guide pipe 2241 is used to inflate and deflate the air inlet pipe 2272, so that the gas bags 2271 in the two crushing knives 225 expand and contract at the same time, and drive the two crushing plates 2273 to repeatedly perform hammering actions.

[0097] It should be noted that the impact force generated by the collision between the two crushing plates 2273 is used to further improve the crushing efficiency of the hard oil sludge.

[0098] Specifically, if Figures 4 to 8 As shown, there is a gap between the two crushing knives 225, and the gap is in the range of 5 cm to 6 cm, which means that it is convenient for the crushing plates 2273 between the two crushing knives 225 to hammer each other, ensuring that the crushing knives 225 crush without affecting the passage of sludge.

[0099] In the above embodiment, when cleaning the oil tank, the equipment is first sent into the oil tank, and the mobile chassis 100 is used to drive the equipment to move autonomously in the oil tank, and the vacuum suction pump truck is used to provide suction power for the suction pipe 110 to pump out the sludge in the oil tank. During the suction process, the driving part 221 drives the mounting seat 223 to rotate, and the crushing knife 225 is used to crush the hard sludge in the sludge. At the same time, the air pump is used to repeatedly inflate and deflate the ventilation pipe 2233, so that the two gas soft bags 2271 expand and contract at the same time. When the gas soft bags 2271 expand, they drive the two crushing plates 2273 to collide with each other, and further crush the hard sludge passing through the crushing knife 225. It can not only replace manual entry into the oil tank for dredging, but also crush the hard sludge in the sludge, thereby improving the dredging efficiency.

[0100] In some embodiments of the present application, considering that the impurities, paraffin, asphaltene and other heavy oil components in the oil product naturally settle and accumulate at the bottom of the oil tank due to the difference in specific gravity, the black and thick colloid substance formed is not easy to clean during the suction process, and it is necessary to manually enter the oil tank to clean it, which is time-consuming, labor-intensive and inefficient. Therefore, further improvements are made to the above problems, specifically, as follows: Figures 9 to 14 As shown;

[0101] A protective cover 240 is fixed on the top of the sewage suction seat 210. The protective cover 240 is a quarter arc-shaped plate and there is a gap between the protective cover 240 and the crushing knife 225. That is, the protective cover 240 occupies a quarter of the opening end of the sewage suction seat 210, which does not affect the suction of the oil sludge and the crushing operation of the crushing knife 225. The axial height of the protective cover 240 is not greater than the height of the crushing knife 225, which means that when the sewage suction seat 210 is raised or lowered, the crushing knife 225 first contacts the oil sludge, which does not affect the crushing of the hard oil sludge by the crushing knife 225.

[0102] A collecting groove 2401 is fixed at the bottom of the protective cover 240, and the axis of the protective cover 240 coincides with the axis of the mounting seat 223, that is, when the crushing knife 225 crushes the hard oil sludge, the hard oil sludge can be thrown into the collecting groove 2401, and through holes are evenly spaced at the bottom of the collecting groove 2401, and the through holes are used to intercept the solid particles of the hard oil sludge, and the liquid oil sludge passes through the through holes;

[0103] The cleaning assembly 200 further includes a feeding portion 250;

[0104] The feeding part 250 includes a pumping pipe 251 and a feeding pipe 252. One end of the pumping pipe 251 extends into the collecting tank 2401. The other end of the pumping pipe 251 is connected to a delivery pump, which is fixed on the sewage suction seat 210.

[0105] The feed end of the feed pipe 252 is connected to the delivery pump, and the discharge end of the feed pipe 252 is located in front of the suction seat 210. The hard oil sludge in the collection tank 2401 is sucked into the feed pipe 252 through the extraction pipe 251, so that the hard oil sludge is sprayed out from the feed pipe 252. The sprayed hard oil sludge increases the contact strength with the colloidal substance, which facilitates the cleaning of the colloidal substance in the oil tank and further breaks up the hard oil sludge.

[0106] It should be noted that the volume of the hard oil sludge becomes smaller after crushing, but it still has a relatively high hardness, and the mass of the hard oil sludge is greater than the mass of the oil sludge. The centrifugal force applied to the hard oil sludge is also greater. During the crushing process, the hard oil sludge can be thrown into the collection tank 2401 at the protective cover 240 under the action of centrifugal force.

[0107] A guardrail 222 is fixed in the suction seat 210 near the fixed pipe 232 , and the guardrail 222 is used to protect the nozzle 1 2321 while not affecting the flushing operation of the nozzle 1 2321 .

[0108] On the basis of the above embodiment, when the crushing knife 225 crushes the hard oil sludge, the crushed hard oil sludge particles are thrown into the collecting tank 2401. After the sludge is extracted to expose the colloidal substance, the hard oil sludge in the collecting tank 2401 is sent to the feeding pipe 252 through the extraction pipe 251, so that the hard oil sludge is sprayed out from the feeding pipe 252 to flush the colloidal substance in the oil tank. It is possible to clean the sludge and the colloidal substance in the oil tank at the same time, thereby reducing the subsequent cleaning burden and improving the cleaning efficiency.

[0109] In some embodiments of the present application, Figures 9 to 14 As shown, a water pump is fixed on the sewage suction seat 210, a water inlet pipe 230 is fixed to the water inlet end of the water pump, the free end of the water inlet pipe 230 is connected to the external water tank, and a water outlet pipe 231 is fixed to the water outlet end of the water pump;

[0110] An annular fixed pipe 232 is fixed in the suction seat 210 near the driving part 221, the axis of the fixed pipe 232 coincides with the axis of the mounting seat 223, the free end of the outlet pipe 231 is connected to the fixed pipe 232, the outlet pipe 231 is communicated with the inside of the fixed pipe 232, a plurality of nozzles 2321 are fixed on the fixed pipe 232 toward the crushing knife 225, the nozzles 2321 are used for flushing the crushing knife 225, and flushing the sludge on the crushing knife 225 during the crushing process, thereby improving the crushing efficiency.

[0111] Specifically, if Figures 9 to 14 As shown, the cleaning assembly 200 further includes a flushing portion 260;

[0112] The flushing part 260 includes a water spray pipe 261, which is fixed to the top of the dirt suction seat 210 through a bracket, and the water spray pipe 261 is located in front of the protective cover 240;

[0113] The water spray pipe 261 is evenly spaced and fixed with multiple nozzles 1 2611 and multiple nozzles 2612. The water spray end of the nozzle 1 2611 is parallel to the ground, and the water spray end of the nozzle 2 2612 is away from the protective cover 240 and tilted upward, with an inclination angle between 40° and 50°.

[0114] It is easy to understand that when the equipment moves forward, the second nozzle 2612 first flushes with the colloidal substance in the oil tank. As the mobile chassis 100 moves, the first nozzle 2611 flushes again when it is close to the colloidal substance, which can better clean the colloidal substance.

[0115] The water spray pipe 261 is fixed with a feed seat 262 with a hollow interior, and the feed seat 262 is communicated with the interior of the water spray pipe 261. The water outlet pipe 231 is fixed with a water guide pipe 233, and a valve is fixed on the water guide pipe 233. After the oil sludge on the surface of the colloid substance is pumped away, the colloid substance is exposed in the oil tank. At this time, the valve is opened, and water is sent into the water guide pipe 233 through the water outlet pipe 231, and the colloid substance is washed by the nozzle 1 2611 and the nozzle 2 2612.

[0116] The spare end of the water guide pipe 233 extends into the feed seat 262, and the discharge end of the feed pipe 252 extends into the feed seat 262. That is to say, the hard oil sludge is fed into the feed seat 262 through the feed pipe 252, and the hard oil sludge enters the water spray pipe 261 along the feed seat 262. The diameter of the water spray end of the nozzle 1 2611 and the nozzle 2 2612 is larger than the particle diameter of the hard oil sludge. When there is no water in the water spray pipe 261, the hard oil sludge is not easy to fall out. When the water spray pipe 261 is pressurized, the hard oil sludge particles can be sprayed out simultaneously with the water flow.

[0117] It is worth mentioning that the hard oil sludge is fed into the water spray pipe 261 through the feed pipe 252, water is fed into the water guide pipe 233 through the water outlet pipe 231, the water spray pipe 261 is pressurized, and a water column containing hard oil sludge particles is sprayed out through nozzle 1 2611 and nozzle 2 2612, thereby further increasing the contact force with the colloidal substance and better cleaning the colloidal substance in the oil tank.

[0118] Specifically, if Fig.13 and Fig.14 As shown, a water storage seat 241 is fixed on the top of the protective cover 240, and a plurality of nozzles 2411 are fixed on the water storage seat 241 near the collecting tank 2401;

[0119] A water distribution pipe 234 is fixed on the water outlet pipe 231, the water inlet end of the water distribution pipe 234 is connected to the water outlet pipe 231, and the water outlet end of the water distribution pipe 234 extends into the water storage seat 241;

[0120] The water spraying end of the second nozzle 2411 is inclined toward the arc surface of the protective cover 240, that is, the second nozzle 2411 flushes the collection tank 2401 to wash away the sludge and leave hard sludge particles.

[0121] It is easy to understand that water is delivered to the water distribution pipe 234 through the water outlet pipe 231, so that the second nozzle 2411 sprays water to flush the protective cover 240 and the collection tank 2401, which can flush the sludge in the collection tank 2401 during the crushing process and better reuse the hard sludge particles.

[0122] On the basis of the above embodiment, the hard oil sludge in the collection tank 2401 is fed into the water spray pipe 261 through the feeding pipe 252. When cleaning the colloidal substance in the oil tank, the valve on the water pipe 233 is opened to allow water to flow through the water pipe 233 into the water spray pipe 261, and a water column containing hard oil sludge particles is sprayed out through nozzle 1 2611 and nozzle 2 2612, thereby further increasing the contact strength between the hard oil sludge and the colloidal substance, better cleaning the colloidal substance in the oil tank, and improving the cleaning efficiency.

[0123] In some embodiments of the present application, Figures 15 to 17 As shown, a cleaning portion 211 is fixed to the bottom of the dirt suction seat 210;

[0124] The cleaning part 211 includes a fixed seat 2111, which is a hollow box body and a telescopic part 2112 is fixed therein, the telescopic part 2112 is a hydraulic cylinder, a traction plate 2113 is fixed at the bottom of the telescopic part 2112, a brush plate 2114 is fixed at the bottom of the traction plate 2113, and the brush plate 2114 is used to clean the colloid substance;

[0125] A through hole is provided at the bottom of the fixing seat 2111, and two sealing plates 2116 are movably connected in the through hole. Two elastic membranes 2115 are fixed on the traction plate 2113. When the elastic membrane 2115 is stretched to a certain extent, the elastic membrane 2115 and the sealing plate 2116 are rigidly connected, and the sealing plate 2116 can be pulled to fold upward. One elastic membrane 2115 is connected to one sealing plate 2116, and the elastic membrane 2115 is close to the movably connected part of the sealing plate 2116. The traction plate 2113 is a soft plate, which can be deformed along with the deformation of the elastic membrane 2115 and is not easy to break.

[0126] It is worth mentioning that after the telescopic part 2112 drives the brush plate 2114 to descend, the sealing plate 2116 is folded upward under the traction of the elastic membrane 2115. When the telescopic part 2112 rises and drives the brush plate 2114 to be retracted into the fixed seat 2111, the elastic membrane 2115 contracts, driving the sealing plate 2116 to reset itself, so that oil sludge is not easy to enter the fixed seat 2111 during dirt suction.

[0127] In the above embodiment, after flushing the gel-like substance, when the traction plate 2113 is driven down by the telescopic portion 2112, the two sealing plates 2116 are opened outward, and as the brush plate 2114 descends, the elastic membrane 2115 is stretched and deformed, so that the sealing plate 2116 is folded upward, and the gel-like substance remaining in the oil tank after flushing is cleaned by the brush plate 2114. As the mobile chassis 100 moves, the brush plate 2114 is used to scrape off the gel-like substance, and after cleaning, the telescopic portion 2112 drives the brush plate 2114 to return to its original position, thereby improving the efficiency of cleaning the oil tank.

[0128] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An oil tank cleaning robot, comprising a mobile chassis (100) and a sewage suction pipe (110), characterized in that: A working frame (140) is fixed on the mobile chassis (100), and the sewage suction pipe (110) is fixed on the working frame (140); The working frame (140) is movably connected to a support frame (120), a gas detector (121) and two cameras (122) are respectively installed on the support frame (120), and both cameras (122) are installed with fill lights; The working frame (140) and the supporting frame (120) are connected via a folding device (130), the folding device (130) is used to adjust the angle of the supporting frame (120), and two identification plates are fixed on the top of the supporting frame (120); Also included is a cleaning assembly (200); The cleaning assembly (200) comprises a dirt suction seat (210) and a crushing part (220); The sewage suction seat (210) is a shell with a hollow interior and an opening on one side, and is movably connected to the working frame (140); one end of the sewage suction pipe (110) is in communication with the interior of the sewage suction seat (210); and an adjusting portion (141) is movably connected to the working frame (140); The crushing part (220) comprises a driving part (221) and a crushing knife (225); the driving part (221) is fixed to the open end of the sewage suction seat (210); the driving part (221) is used to drive the crushing knife (225) to crush the hard oil sludge; A protective cover (240) is fixed on the top of the sewage suction seat (210); the protective cover (240) is a quarter arc-shaped plate and there is a gap between the protective cover (240) and the crushing knife (225); A collecting groove (2401) is fixed at the bottom of the protective cover (240), and through holes are evenly spaced at the bottom of the collecting groove (2401); The cleaning assembly (200) further comprises a feeding portion (250); The feeding portion (250) comprises a drawing pipe (251) and a feeding pipe (252); one end of the drawing pipe (251) extends into the collecting tank (2401), and the other end of the drawing pipe (251) is connected to a delivery pump; The feed end of the feed pipe (252) is connected to a delivery pump, and the discharge end of the feed pipe (252) is located in front of the sewage suction seat (210). The hard oil sludge in the collection tank (2401) is sucked into the feed pipe (252) through the suction pipe (251), so that the hard oil sludge is ejected from the feed pipe (252); A water pump is fixed on the sewage suction seat (210), a water inlet pipe (230) is fixed on the water inlet end of the water pump, and a water outlet pipe (231) is fixed on the water outlet end of the water pump; A ring-shaped fixed pipe (232) is fixed in the sewage suction seat (210) near the driving part (221); the free end of the water outlet pipe (231) is connected to the fixed pipe (232); and a plurality of nozzles (2321) are fixed on the fixed pipe (232) toward the crushing knife (225); The cleaning assembly (200) further comprises a flushing portion (260); The flushing portion (260) comprises a water spray pipe (261), the water spray pipe (261) being fixed to the top of the sewage suction seat (210) via a bracket, and the water spray pipe (261) being located in front of the protective cover (240); The water spray pipe (261) is evenly spaced and fixed with a plurality of nozzles one (2611) and a plurality of nozzles two (2612); the water spray end of the nozzle one (2611) is parallel to the ground, and the water spray end of the nozzle two (2612) is away from the protective cover (240) and tilted upward, with an inclination angle between 40° and 50°; A feed seat (262) with a hollow interior is fixed on the water spray pipe (261), the feed seat (262) is in communication with the interior of the water spray pipe (261), a water guide pipe (233) is fixed on the water outlet pipe (231), and a valve is fixed on the water guide pipe (233); The free end of the water guide pipe (233) extends into the feed seat (262), and the discharge end of the feed pipe (252) extends into the feed seat (262).

2. The oil tank cleaning robot according to claim 1, characterized in that: The cleaning assembly (200) further comprises a crushing unit (227); The crushing part (227) comprises a gas soft bag (2271) and an air intake pipe (2272); The crushing knife (225) is provided with a through groove, a gas bag (2271) is fixed in the through groove, one end of the air inlet pipe (2272) extends into the gas bag (2271), and a crushing plate (2273) is fixed on the gas bag (2271); A columnar mounting seat (223) is fixed on the driving end of the driving portion (221), and a fixing plate (224) is fixed on the mounting seat (223) near the sewage suction seat (210); An air guide tube (2241) is fixed on the fixing plate (224) near the gas soft bag (2271), and the air guide tube (2241) is connected to the free end of the air inlet pipe (2272); An annular tube (2231) is fixed to the side of the mounting seat (223), and the annular tube (2231) is used to inflate and deflate the air guide tube (2241), so that the gas bag (2271) expands and contracts repeatedly, driving the crushing plate (2273) to repeatedly strike the hard oil mud.

3. The oil tank cleaning robot according to claim 2, characterized in that: There are a plurality of fixed plates (224), and two crushing knives (225) are fixed on one fixed plate (224), and the two crushing knives (225) are parallel; There are multiple crushing parts (227), one crushing part (227) is located in one crushing knife (225), two air guide tubes (2241) are fixed on one fixing plate (224), and one air guide tube (2241) is connected to a free end of an air inlet tube (2272); A plurality of branch pipes (2232) are fixed on the annular pipe (2231), one branch pipe (2232) extends into a fixed plate (224), and one branch pipe (2232) supplies air to two air guide pipes (2241) on the fixed plate (224); A ventilation pipe (2233) is fixed on the annular pipe (2231); the ventilation pipe (2233) is communicated with the interior of the annular pipe (2231); and the other end of the ventilation pipe (2233) is connected to an air pump.

4. The oil tank cleaning robot according to claim 3, characterized in that: The air guide pipe (2241) is used to inflate and deflate the air inlet pipe (2272), so that the gas soft bags (2271) in the two crushing knives (225) expand and contract simultaneously, and drive the two crushing plates (2273) to repeatedly perform hammering actions.

5. The oil tank cleaning robot according to claim 3, characterized in that: There is a gap between the two crushing knives (225), and the gap is in the range of 5 cm to 6 cm.

6. The oil tank cleaning robot according to claim 1, characterized in that: A water storage seat (241) is fixed to the top of the protective cover (240), and a plurality of second nozzles (2411) are fixed to the water storage seat (241) near the collecting tank (2401); A water distribution pipe (234) is fixed on the water outlet pipe (231), and the water outlet end of the water distribution pipe (234) extends into the water storage seat (241); The water spraying end of the second spray head (2411) is inclined toward the arc surface of the protective cover (240).

7. The oil tank cleaning robot according to claim 1, characterized in that: A cleaning portion (211) is fixed at the bottom of the dirt suction seat (210); The cleaning portion (211) comprises a fixed seat (2111), the fixed seat (2111) being a hollow box body and having a telescopic portion (2112) fixed therein, a traction plate (2113) fixed at the bottom of the telescopic portion (2112), and a brush plate (2114) fixed at the bottom of the traction plate (2113); The fixing seat (2111) has a through hole at the bottom, and two sealing plates (2116) are movably connected in the through hole. Two elastic membranes (2115) are fixed on the traction plate (2113), and one elastic membrane (2115) is connected to one sealing plate (2116).

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