Multifunctional oil tank cleaning robot

Abstract

The invention relates to the technical field of cleaning robots, in particular to a multifunctional oil tank cleaning robot which comprises a shell and universal wheels, the universal wheels are movably connected to the position, close to the front side, of the bottom face of the shell, and two driving assemblies are arranged on the top face of the shell in a bilateral symmetry mode. According to the cleaning robot, the driving assembly, the universal wheels, the impurity collecting assembly and the cleaning assembly are arranged, when the oil tank is cleaned, the direction and speed of the driving wheel are controlled through the first motor, and the arranged universal wheels are combined, so that automatic operation of the cleaning robot in the oil tank can be achieved; then an annular gear is driven through a second motor, the annular gear is meshed with a first gear to drive a cleaning brush to rotate, cleaning operation on the interior of the oil tank is achieved, impurities are sucked into a connecting pipe under the action of negative pressure equipment, the impurities enter an inner cavity of a collecting shell, and collecting operation on the impurities in the oil tank is completed; the cleaning effect is good.

Description

Technical Field

[0001] The invention relates to a cleaning robot, in particular to a multifunctional oil tank cleaning robot. Background Art

[0002] As the core device of civil airport fuel supply facilities, aviation kerosene (hereinafter referred to as aviation kerosene) storage tanks have obvious structural characteristics compared with general crude oil and finished oil tanks. The tank structure of the oil storage tank is generally assembled by welding. Domestic and foreign industry standards for aviation kerosene usually include indicators such as kerosene purity, water content, and freezing point. In order to meet these strict standards, the cleanliness requirements of the oil storage tank are extremely high, and any residue may affect the quality of the kerosene.

[0003] At present, the largest aviation kerosene storage tank in China is 30,000 cubic meters, and the commonly used ones are generally no more than 20,000 cubic meters. After long-term storage, the oil stored in the tank body of such a volume scale will form moisture and sediment at the bottom of the tank. Because it contains toxic substances such as benzene and phenols, it cannot be directly discharged. If it is not removed in time, it will accelerate the corrosion of the bottom plate of the oil tank, reduce the service life of the oil tank, and have a certain negative impact on the quality of the oil in the tank, the effective volume, etc. And this layer of moisture and sediment will have a great impact on the operation of the cleaning equipment, mainly because there are some welds on the bottom plate and the pipe wall of the tank, which is not conducive to the cleaning operation of the weld position of the oil tank. Based on the above reasons, the present invention proposes a multifunctional oil tank cleaning robot. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multifunctional oil tank cleaning robot.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A multifunctional oil tank cleaning robot comprises an outer shell, wherein a universal wheel is movably connected to the bottom surface of the outer shell near the front side, two driving components are symmetrically arranged on the top surface of the outer shell, an impurity collecting component is arranged at the rear side of the inner cavity of the outer shell, a cleaning component is arranged on the side wall of the inner cavity of the outer shell, a control module is installed at the front side of the inner cavity of the outer shell, and a detection component is arranged at the center of the top surface of the outer shell.

[0007] As a preferred technical solution of the present invention, the driving component includes a through groove, two through grooves are symmetrically opened on the top surface of the shell, driving wheels are arranged in the through grooves, a first rotating shaft is fixedly connected to the center of the side wall of the driving wheel, a first rotating shaft is fixedly connected to one end away from the driving wheel with a first motor, and the first motor is fixedly connected to the side wall of the inner cavity of the shell.

[0008] As a preferred technical solution of the present invention, the cleaning assembly includes a ring gear, two ring gears are movably connected to the inner cavity of the outer shell, two first gears are symmetrically meshed on each of the ring gears, a movable shaft is fixedly connected to the center of the side wall of the first gear, the bottom end of the movable shaft passes through the bottom surface of the outer shell and is fixedly connected to a circular plate, a number of cleaning brushes are evenly distributed and fixedly connected to the circular plate, each of the ring gears is meshed with a second gear near the front side, a second rotating shaft is fixedly connected to the center of the side wall of the second gear, one end of the second rotating shaft is movably connected to the outer shell, the other end of the second rotating shaft is fixedly connected to a second motor, and the second motor is fixedly connected to the outer shell.

[0009] As a preferred technical solution of the present invention, a protective shell is provided on the outer side of the first motor and the second motor, and the protective shell is fixedly connected to the inner wall of the outer shell.

[0010] As a preferred technical solution of the present invention, the impurity collection component includes a negative pressure device, a negative pressure device is fixedly connected to the center of the bottom surface of the outer shell, the bottom surface of the negative pressure device passes through the bottom surface of the outer shell, a connecting pipe is fixedly connected to the top surface of the negative pressure device, and a fixed shell is fixedly connected to the end of the connecting pipe away from the negative pressure device, the fixed shell is fixedly connected to the outer shell, the fixed shell is fixedly connected to the outer shell and passes through the bottom surface of the outer shell, a collection shell is inserted into the fixed shell, and a locking assembly is provided on the fixed shell.

[0011] As a preferred technical solution of the present invention, the locking assembly includes a positioning rod, and two positioning rods are symmetrically and movably connected on the side wall of the fixed shell. The end of the positioning rod away from the collecting shell is fixedly connected to the side plate, and a spring is sleeved on the positioning rod. One end of the spring is fixedly connected to the side plate, and the other end of the spring is fixedly connected to the outer wall of the fixed shell. Two positioning grooves are symmetrically provided on the outer wall of the collecting shell, and the end of the positioning rod away from the side plate is inserted into the positioning groove.

[0012] As a preferred technical solution of the present invention, the detection component includes a round shell, the top center of the outer shell is fixedly connected to the round shell, the bottom surface of the round shell is fixedly connected to a third motor, the rotor of the third motor is fixedly connected to a third rotating shaft, the top of the third rotating shaft is fixedly connected to a detection sensor, and the inner cavity of the round shell is fixedly connected to a sealing ring.

[0013] As a preferred technical solution of the present invention, an annular groove is opened on the side wall of the inner cavity of the shell, and an annular plate is fixedly connected to the outer wall of the ring gear. The annular plate is inserted into the annular groove and the annular plate and the annular groove are movably connected.

[0014] The embodiment of the present invention provides a multifunctional oil tank cleaning robot, which has the following beneficial effects:

[0015] 1. The present invention is provided with a control module and a detection component, and uses a laser radar (LiDAR) and an inertial navigation system (INS) for multi-sensor fusion to achieve high-precision perception of the internal environment of the oil tank. The laser radar is used to capture the precise geometric information of the environment, while the INS provides continuous equipment position and posture updates. The SLAM technology is used to build and update the internal map when the robot first enters the oil tank or the environment changes, and the data of the laser radar and INS are integrated to improve the accuracy and robustness of the map. Based on the constructed map, algorithms such as A* or RRT (rapid exploration random tree) are used for path planning. These algorithms can take into account the physical constraints and environmental obstacles of the robot, calculate an efficient and safe cleaning path, and implement dynamic navigation and control strategies on the basis of path planning, so that the robot can adapt to environmental changes and unknown obstacles, and adjust the speed and direction of the robot through a PID controller or a fuzzy logic controller to ensure accurate movement along the planned path.

[0016] 2. The present invention is provided with a driving assembly, a universal wheel, an impurity collection assembly and a cleaning assembly. When cleaning the oil tank, the direction and speed of the driving wheel are controlled by the first motor, and combined with the universal wheel, the automatic operation of the cleaning robot inside the oil tank can be realized. Then, the ring gear is driven by the second motor, and the ring gear engages with the first gear to drive the cleaning brush to rotate, thereby cleaning the inside of the oil tank. Under the action of the negative pressure equipment, impurities are sucked into the connecting pipe and enter the inner cavity of the collection shell, thereby completing the collection operation of impurities inside the oil tank, and the cleaning effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 It is a schematic diagram of the front three-dimensional structure of the present invention;

[0019] Figure 2 It is a side perspective structural schematic diagram of the present invention;

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the inner cavity of the shell of the present invention;

[0021] Figure 4 It is a schematic diagram of the internal cross-sectional three-dimensional structure of the present invention;

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the cleaning component of the present invention;

[0023] Figure 6It is a schematic diagram of the three-dimensional structure of the impurity collection component of the present invention;

[0024] Figure 7 It is a three-dimensional structural schematic diagram of the detection assembly of the present invention;

[0025] Figure 8 It is a three-dimensional structural schematic diagram of the driving assembly of the present invention.

[0026] In the figure: 1. shell; 2. universal wheel; 3. drive assembly; 4. impurity collection assembly; 5. cleaning assembly; 6. control module; 7. detection assembly; 8. through groove; 9. drive wheel; 10. first rotating shaft; 11. first motor; 12. ring gear; 13. first gear; 14. movable shaft; 15. circular plate; 16. cleaning brush; 17. second gear; 18. second rotating shaft; 19. second motor; 20. protective shell; 21. negative pressure equipment; 22. connecting pipe; 23. fixed shell; 24. collecting shell; 25. locking assembly; 26. positioning rod; 27. side plate; 28. spring; 29. ​​third motor; 30. third rotating shaft; 31. detection sensor; 32. sealing ring; 33. annular groove; 34. annular plate; 35. round shell. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0028] Example: Figure 1-8 As shown, a multifunctional oil tank cleaning robot comprises a shell 1, a universal wheel 2 is movably connected to the bottom surface of the shell 1 near the front side, two driving components 3 are symmetrically arranged on the top surface of the shell 1, the driving component 3 comprises a through slot 8, two through slots 8 are symmetrically arranged on the top surface of the shell 1, driving wheels 9 are arranged in the through slots 8, a first rotating shaft 10 is fixedly connected to the center of the side wall of the driving wheel 9, a first motor 11 is fixedly connected to the end of the first rotating shaft 10 away from the driving wheel 9, and the first motor 11 is fixedly connected to the side wall of the inner cavity of the shell 1;

[0029] In the technical solution of this embodiment, after the scanning of the inside of the oil tank is completed, the first motor 11 is started, the first motor 11 drives the first rotating shaft 10 to rotate, and the first rotating shaft 10 drives the driving wheel 9 to rotate. The first motor 10 controls the direction and speed of the driving wheel 9, and combined with the universal wheel 2, the automatic operation of the cleaning robot inside the oil tank can be realized;

[0030] An impurity collecting assembly 4 is provided at the rear side of the inner cavity of the shell 1. The impurity collecting assembly 4 includes a negative pressure device 21. The center of the bottom surface of the shell 1 is fixedly connected with the negative pressure device 21. The bottom surface of the negative pressure device 21 penetrates the bottom surface of the shell 1. A connecting pipe 22 is fixedly connected to the top surface of the negative pressure device 21. The end of the connecting pipe 22 away from the negative pressure device 21 is fixedly connected with a fixed shell 23. The fixed shell 23 is fixedly connected to the shell 1. The fixed shell 23 is fixedly connected to the shell 1 and penetrates the bottom surface of the shell 1. A collecting shell 24 is inserted into the fixed shell 23.

[0031] In the technical solution of this embodiment, by starting the negative pressure device 21, the impurities are allowed to enter the inner cavity of the collection shell 24 through the connecting pipe 22 under the action of the negative pressure device 21, so that the impurities generated inside the oil tank can be continuously collected and cleaned conveniently;

[0032] A locking assembly 25 is provided on the fixed shell 23, and the locking assembly 25 includes a positioning rod 26. Two positioning rods 26 are symmetrically and movably connected on the side wall of the fixed shell 23. The end of the positioning rod 26 away from the collecting shell 24 is fixedly connected to the side plate 27. A spring 28 is sleeved on the positioning rod 26. One end of the spring 28 is fixedly connected to the side plate 27, and the other end of the spring 28 is fixedly connected to the outer wall of the fixed shell 23. Two positioning grooves are symmetrically provided on the outer wall of the collecting shell 24. The end of the positioning rod 26 away from the side plate 27 is inserted into the positioning groove;

[0033] In the technical solution of this embodiment, when the collecting shell 24 is inserted into the fixed shell 23, the side plate 17 can be driven to move under the action of the spring 28, and the side plate 17 drives the positioning rod 26 to move, so that one end of the positioning rod 26 is inserted into the positioning groove on the side wall of the collecting shell 24, so that the collecting shell 24 is installed in the inner cavity of the fixed shell 23, which is convenient for collecting impurities after cleaning the oil tank on the one hand, and for cleaning impurities in the inner cavity of the collecting shell 24 on the other hand, and is convenient to use;

[0034] A cleaning assembly 5 is provided on the side wall of the inner cavity of the shell 1. The cleaning assembly 5 includes a ring gear 12. Two ring gears 12 are movably connected to the inner cavity of the shell 1. Two first gears 13 are symmetrically meshed on each ring gear 12. A movable shaft 14 is fixedly connected to the center of the side wall of the first gear 13. The bottom end of the movable shaft 14 passes through the bottom surface of the shell 1 and is fixedly connected to a circular plate 15. A number of cleaning brushes 16 are evenly distributed and fixedly connected to the circular plate 15. A second gear 17 is meshed near the front side of each ring gear 12. A second rotating shaft 18 is fixedly connected to the center of the side wall of the second gear 17. One end of the second rotating shaft 18 is movably connected to the shell 1, and the other end of the second rotating shaft 18 is fixedly connected to a second motor 19. The second motor 19 is fixedly connected to the shell 1.

[0035] In the technical solution of this embodiment, the second motor 19 is started, the second motor 19 drives the second shaft 18 to rotate, the second shaft 18 drives the second gear 17 to rotate, the second gear 17 engages the ring gear 12 to rotate, the ring gear 12 engages the first gear 13 to rotate, the first gear 13 drives the movable shaft 14 to rotate, the movable shaft 14 drives the circular plate 15 to rotate, the circular plate 15 drives the cleaning brush 16 to rotate, and the rotation of the cleaning brush 16 can realize the cleaning operation of impurities inside the oil tank;

[0036] Furthermore, a protective shell 20 is provided outside the first motor 11 and the second motor 19, and the protective shell 20 is fixedly connected to the inner wall of the housing 1, so as to protect the first motor 11 and the second motor 19, avoid heating or sparks of the first motor 11 and the second motor 19, and cause the oil tank to explode, thereby improving the safety of the device;

[0037] Furthermore, an annular groove 33 is provided on the inner side wall of the housing 1, and an annular plate 34 is fixedly connected to the outer side wall of the ring gear 12. The annular plate 34 is inserted into the annular groove 33 and the annular plate 34 and the annular groove 33 are movably connected, so that the ring gear 12 can rotate stably in the inner side wall of the housing 1, which is convenient for cleaning the inside of the oil tank.

[0038] A control module 6 is installed at the front side of the inner cavity of the housing 1, a detection assembly 7 is arranged at the center of the top surface of the housing 1, and the detection assembly 7 includes a round shell 35, the round shell 35 is fixedly connected to the center of the top surface of the housing 1, a third motor 29 is fixedly connected to the bottom surface of the round shell 35, a third rotating shaft 30 is fixedly connected to the rotor of the third motor 29, a detection sensor 31 is fixedly connected to the top of the third rotating shaft 30, and a sealing ring 32 is fixedly connected to the inner cavity of the round shell 35;

[0039] In the technical solution of this embodiment, the cleaning robot is placed inside the oil tank that needs to be cleaned, the detection component 7 is started, the third motor 29 drives the third shaft 30 to rotate, the third shaft 30 drives the detection sensor 31 to rotate, and the detection sensor 31 rotates back and forth continuously to realize the scanning operation of the internal space of the oil tank, and the multi-sensor fusion of laser radar (LiDAR) and inertial navigation system (INS) is used to realize high-precision perception of the internal environment of the oil tank. The laser radar is used to capture the precise geometric information of the environment, and the INS provides continuous equipment position and posture updates. The SLAM technology is used to build and update the internal map when the robot enters the oil tank for the first time or the environment changes, and the data of the laser radar and INS are integrated to improve the accuracy and robustness of the map. Based on the constructed map, the path planning is performed using algorithms such as A* or RRT (rapid exploration random tree). These algorithms can take into account the physical constraints and environmental obstacles of the robot, calculate an efficient and safe cleaning path, and implement dynamic navigation and control strategies on the basis of path planning, so that the robot can adapt to environmental changes and unknown obstacles, and adjust the speed and direction of the robot through a PID controller or a fuzzy logic controller to ensure accurate movement along the planned path.

[0040] Working principle: When in use, the present invention first performs a charging operation on the device so that the built-in power supply inside the control module 6 completes the charging operation. After charging is completed, the built-in power supply inside the control module 6 can be used to power the cleaning robot, and the cleaning robot is placed inside the oil tank that needs to be cleaned. The detection component 7 is started, and the third motor 29 drives the third shaft 30 to rotate, and the third shaft 30 drives the detection sensor 31 to rotate. The detection sensor 31 continuously rotates back and forth to scan the internal space of the oil tank. Laser radar (LiDAR) and inertial navigation system (INS) are used for multi-sensor fusion to achieve high-precision perception of the internal environment of the oil tank. The laser radar is used to capture precise geometric information of the environment, and the INS provides continuous equipment position and posture updates. Using SLAM technology, an internal map is constructed and updated when the robot enters the oil tank for the first time or the environment changes. The data of the laser radar and INS are integrated to improve the accuracy and robustness of the map. Based on the constructed map, algorithms such as A* or RRT (rapid exploration random tree) are used for path planning. These algorithms can take into account the physical constraints of the robot and environmental obstacles, calculate an efficient and safe cleaning path, and implement dynamic navigation and control strategies based on path planning, so that the robot can adapt to environmental changes and unknown obstacles. The speed and direction of the robot are adjusted by a PID controller or a fuzzy logic controller to ensure precise movement along the planned path. After the scanning is completed, the first motor 11 is started, and the first motor 11 drives the first shaft 10 to rotate, and the first shaft 10 drives the driving wheel 9 to rotate. The direction and speed of the driving wheel 9 are controlled by the first motor 10, and combined with the universal wheel 2, the automatic operation of the cleaning robot inside the oil tank can be realized. At the same time, the second motor 19 and the negative pressure device 21 are started, and the second motor 19 drives the second shaft 18 to rotate, and the second shaft 18 drives the second gear 17 to rotate, and the second gear 17 engages with the ring gear 12 to rotate, and the ring gear 12 engages with the first gear 13 to rotate, and the second motor 19 and the negative pressure device 21 are started at the same time. A gear 13 drives the movable shaft 14 to rotate, and the movable shaft 14 drives the circular plate 15 to rotate, and the circular plate 15 drives the cleaning brush 16 to rotate. The rotation of the cleaning brush 16 can be used to clean the impurities inside the oil tank, and the rotation of the cleaning brush 16 can be used to push the impurities to the negative pressure device 21. Under the action of the negative pressure device 21, the impurities enter the inner cavity of the collecting shell 24 through the connecting pipe 22. Through the continuous cleaning of the cleaning brush 16 and the continuous operation of the driving wheel 9, the automatic cleaning operation of the inside of the oil tank is realized, and the cleaning effect is good and convenient. When the cleaning of the inside of the oil tank is completed, the control module 6 sends data to the external device, and the external personnel take the cleaning robot out of the oil tank. By pulling the collecting shell 24, the positioning rod 26 is pulled out of the positioning groove on the side wall of the collecting shell 24, and the collecting shell 24 can be pulled out from the fixed shell 23, the impurities in the inner cavity of the collecting shell 24 can be processed, which is easy to use.

[0041] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. 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. A multifunctional oil tank cleaning robot, comprising a housing (1), characterized in that: A universal wheel (2) is movably connected to the bottom surface of the shell (1) near the front side, two driving components (3) are symmetrically arranged on the top surface of the shell (1), an impurity collection component (4) is arranged at the rear side of the inner cavity of the shell (1), a cleaning component (5) is arranged on the side wall of the inner cavity of the shell (1), a control module (6) is installed at the front side of the inner cavity of the shell (1), and a detection component (7) is arranged at the center of the top surface of the shell (1).

2. A multifunctional oil tank cleaning robot according to claim 1, characterized in that: The driving assembly (3) comprises a through slot (8), two through slots (8) are symmetrically provided on the top surface of the housing (1), a driving wheel (9) is arranged in each of the through slots (8), a first rotating shaft (10) is fixedly connected to the center of the side wall of the driving wheel (9), a first motor (11) is fixedly connected to one end of the first rotating shaft (10) away from the driving wheel (9), and the first motor (11) is fixedly connected to the side wall of the inner cavity of the housing (1).

3. The multifunctional oil tank cleaning robot according to claim 2, characterized in that: The cleaning assembly (5) comprises a ring gear (12), the inner cavity of the outer shell (1) is movably connected to two ring gears (12), each of the ring gears (12) is symmetrically meshed with two first gears (13), the center of the side wall of the first gear (13) is fixedly connected with a movable shaft (14), the bottom end of the movable shaft (14) passes through the bottom surface of the outer shell (1) and is fixedly connected with a circular plate (15), and a plurality of cleaning brushes (16) are evenly distributed and fixedly connected to the circular plate (15), each of the ring gears (12) is meshed with a second gear (17) near the front side, the center of the side wall of the second gear (17) is fixedly connected with a second rotating shaft (18), one end of the second rotating shaft (18) is movably connected to the outer shell (1), and the other end of the second rotating shaft (18) is fixedly connected with a second motor (19), and the second motor (19) is fixedly connected to the outer shell (1).

4. The multifunctional oil tank cleaning robot according to claim 3, characterized in that: The first motor (11) and the second motor (19) are both sheathed with a protective shell (20) on their outer sides, and the protective shell (20) is fixedly connected to the inner wall of the outer shell (1).

5. The multifunctional oil tank cleaning robot according to claim 1, characterized in that: The impurity collecting assembly (4) comprises a negative pressure device (21), the negative pressure device (21) is fixedly connected to the center of the bottom surface of the shell (1), the bottom surface of the negative pressure device (21) is arranged to penetrate the bottom surface of the shell (1), a connecting pipe (22) is fixedly connected to the top surface of the negative pressure device (21), and a fixed shell (23) is fixedly connected to the end of the connecting pipe (22) away from the negative pressure device (21), the fixed shell (23) is fixedly connected to the shell (1), the fixed shell (23) is fixedly connected to the shell (1) and is arranged to penetrate the bottom surface of the shell (1), a collecting shell (24) is inserted into the fixed shell (23), and a locking assembly (25) is arranged on the fixed shell (23).

6. The multifunctional oil tank cleaning robot according to claim 5, characterized in that: The locking assembly (25) comprises a positioning rod (26), two positioning rods (26) are symmetrically and movably connected on the side wall of the fixed shell (23), one end of the positioning rod (26) away from the collecting shell (24) is fixedly connected to the side plate (27), a spring (28) is sleeved on the positioning rod (26), one end of the spring (28) is fixedly connected to the side plate (27), and the other end of the spring (28) is fixedly connected to the outer wall of the fixed shell (23), two positioning grooves are symmetrically provided on the outer wall of the collecting shell (24), and one end of the positioning rod (26) away from the side plate (27) is inserted into the positioning groove.

7. The multifunctional oil tank cleaning robot according to claim 1, characterized in that: The detection assembly (7) comprises a round shell (35), the top center of the outer shell (1) is fixedly connected to the round shell (35), the bottom of the round shell (35) is fixedly connected to a third motor (29), the rotor of the third motor (29) is fixedly connected to a third rotating shaft (30), the top of the third rotating shaft (30) is fixedly connected to a detection sensor (31), and the inner cavity of the round shell (35) is fixedly connected to a sealing ring (32).

8. The multifunctional oil tank cleaning robot according to claim 3, characterized in that: An annular groove (33) is provided on the inner cavity side wall of the housing (1), an annular plate (34) is fixedly connected to the outer wall of the ring gear (12), the annular plate (34) is inserted into the annular groove (33), and the annular plate (34) and the annular groove (33) are movably connected.

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