Horizontal cleaning robot for oil sludge at bottom of diesel storage tank

Abstract

The invention discloses a horizontal type diesel oil storage tank bottom oil sludge cleaning robot which comprises a robot body. The cleaning device comprises a main cleaning module and / or an auxiliary cleaning module; the main cleaning module comprises a fixing support, a double-shaft pneumatic motor and a roller brush. The auxiliary cleaning module comprises a fixing frame, a first rocker arm and a second rocker arm, the first rocker arm is connected with the fixing frame, a first disc brush assembly is arranged at the second end of the first rocker arm, the second rocker arm is connected with the fixing frame, and a second disc brush assembly is arranged at the second end of the second rocker arm; the auxiliary cleaning module further comprises an adjusting mechanism used for adjusting the first disc brush assembly and the second disc brush assembly. And the oil sludge suction module is connected with the robot body and used for sucking oil sludge at the bottom of the horizontal diesel oil storage tank. And compared with the current working modes of shutdown, emptying and manual cleaning, the cleaning safety, economical efficiency and efficiency are greatly improved.

Description

Technical Field

[0001] The invention relates to a device for cleaning oil sludge at the bottom of a horizontal fuel storage tank, in particular to a robot for cleaning oil sludge at the bottom of a horizontal diesel storage tank. Background Art

[0002] The oil storage of the emergency diesel engine system of a nuclear power plant needs to be stored for a long time (the entire life of the unit), and the safe operation of the storage tank is the prerequisite for the normal operation of the emergency diesel engine system. In addition, due to the long-term standby storage of the oil, the microorganisms, sulfides, organic acids, colloids, etc. in the oil products and the inorganic impurities such as mechanical impurities, sand, soil, heavy metal salts, etc. carried by the oil products will naturally settle due to the density difference and accumulate at the bottom of the oil storage tank, forming black thick gelatinous sludge. The sludge not only reduces the effective capacity of the oil storage tank, but also corrodes the bottom of the tank. When accumulated to a certain extent, it will also affect the quality of the oil products. Therefore, the oil storage tank must be cleaned regularly.

[0003] The internal structure of the diesel tank Figure 1 As shown, the manhole size is ≤Φ500mm, the height of the T-shaped reinforcement ribs is about 200-300mm, and the interval is about 600mm. Figure 2 As shown, the black area at the bottom is the oily sludge area, with a height of about 250 mm. The upper layer is flocculent and the lower layer is viscous colloidal oily sludge.

[0004] The existing technology mostly adopts manual cleaning, but manual cleaning has the following disadvantages: the equipment needs to be shut down, the oil needs to be drained, and manual cleaning, flushing and wiping operations need to be performed in the tank, which has poor safety and low efficiency. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a robot for cleaning the oil sludge at the bottom of a horizontal diesel tank, so as to solve the problems of poor safety and low efficiency caused by manual cleaning.

[0006] The technical solution adopted by the present invention to solve the technical problem is: constructing a horizontal diesel tank bottom sludge cleaning robot, comprising:

[0007] A robot body, the robot body having a first end and a second end opposite to each other;

[0008] A cleaning device, the cleaning device comprising a main cleaning module and / or a secondary cleaning module; the main cleaning module is mounted at the bottom of the first end of the robot body, the main cleaning module comprises a fixed bracket connected to the robot body, a double-axis pneumatic motor mounted on the fixed bracket, and a roller brush mounted on two mounting shafts of the double-axis pneumatic motor;

[0009] The auxiliary cleaning module is installed at the bottom position of the second end of the robot body, and the auxiliary cleaning module includes a fixed frame, a first rocker arm and a second rocker arm, the first rocker arm is connected to the fixed frame, the second end of the first rocker arm is provided with a first disc brush assembly, the second rocker arm is connected to the fixed frame, and the second end of the second rocker arm is provided with a second disc brush assembly; the auxiliary cleaning module also includes an adjustment mechanism for adjusting the first disc brush assembly and the second disc brush assembly;

[0010] An oil sludge suction module is connected to the robot body and is used to suck the oil sludge at the bottom of a horizontal diesel storage tank.

[0011] In some embodiments, the fixing frame includes a mounting rod, a first mounting seat is provided at the top of the mounting rod, a second mounting seat is provided at the bottom of the mounting rod, a third mounting seat, a fourth mounting seat, a fifth mounting seat, and a sixth mounting seat are provided at the front end of the mounting rod, the first mounting seat is connected to the bottom of the first end on the robot body; the third mounting seat and the fourth mounting seat are respectively located on the outside of the fifth mounting seat and the sixth mounting seat, the first end of the first rocker arm is rotatably connected to the third mounting seat, and the first end of the second rocker arm is rotatably connected to the fourth mounting seat;

[0012] The adjustment mechanism includes a first driving member, a second driving member and a third driving member, one end of the first driving member is installed at the bottom of the robot body, and the driving end of the first driving member is connected to the second mounting seat; one end of the second driving member is connected to the fifth mounting seat, and the driving end of the second driving member is connected to the middle part of the second rocker arm; one end of the third driving member is connected to the sixth mounting seat, and the driving end of the third driving member is connected to the middle part of the first rocker arm.

[0013] In some embodiments, a first connecting plate is provided in the middle of the first rocker arm, and a first clamping member rotatably connected to the first connecting plate is provided at a driving end of the third driving member;

[0014] A second connecting plate is provided at the middle of the second rocker arm, and a second clamping member rotatably connected to the second connecting plate is provided at the driving end of the second driving member.

[0015] In some embodiments, the first rocker arm includes a first connecting rod, a first end of the first connecting rod is rotatably connected to the third mounting seat, a second connecting rod is upwardly extended from the second end of the first connecting rod, a third connecting rod is extended from the upper end of the second connecting rod to a side away from the first connecting rod, a first mounting plate is provided at one end of the third connecting rod away from the second connecting rod, and the first disc brush assembly is mounted on the first mounting plate;

[0016] The second rocker arm includes a fourth connecting rod, a first end of the fourth connecting rod is rotatably connected to the third mounting seat, a fifth connecting rod is extended upward from the second end of the fourth connecting rod, a sixth connecting rod is extended from the upper end of the fifth connecting rod to a side away from the fourth connecting rod, a second mounting plate is provided at one end of the sixth connecting rod away from the fifth connecting rod, and the second disc brush assembly is mounted on the second mounting plate.

[0017] In some embodiments, the first disc brush assembly includes a first drive motor and a first disc brush connected to the first drive motor;

[0018] The second disc brush assembly includes a second drive motor and a second disc brush connected to the second drive motor.

[0019] In some embodiments, the horizontal diesel tank bottom oil sludge cleaning robot further includes an oil sludge suction module connected to the robot body;

[0020] The oil suction sludge module includes a main oil suction sludge pipeline, two auxiliary oil suction sludge pipelines and a pump suction main pipeline; the pump suction main pipeline is connected to the main oil suction sludge pipeline and the two auxiliary oil suction sludge pipelines; a main oil suction sludge cover is provided at one end of the main oil suction sludge pipeline, and the main oil suction sludge cover is connected and communicated with the fixed bracket; an auxiliary oil suction sludge cover is provided at one end of each of the auxiliary oil suction sludge pipelines, and the auxiliary oil suction sludge cover is arranged close to one side of the first disc brush assembly and the second disc brush assembly.

[0021] In some embodiments, the robot body is also provided with a propulsion device, which includes a plurality of vertical propellers respectively arranged on both sides of the robot body; and a plurality of first horizontal propellers respectively arranged on both sides of the robot body; and a plurality of second horizontal propellers respectively arranged at the first end and the second end of the robot body, and the propulsion directions of the first horizontal propellers and the second horizontal propellers are arranged perpendicular to each other.

[0022] In some embodiments, a plurality of moving wheels are further provided at the bottom of the robot body.

[0023] In some embodiments, a plurality of cameras are respectively disposed at the first end and the second end of the robot body.

[0024] In some embodiments, a plurality of light source devices are respectively disposed at the first end and the second end of the robot body.

[0025] The implementation of the present invention has the following beneficial effects: the horizontal diesel tank bottom sludge cleaning robot can complete the tank cleaning operation without draining the oil from the horizontal diesel tank. It realizes the combination of the two mechanisms of cleaning and suction, and can completely clean the sludge at the bottom of the horizontal diesel tank. It is equipped with a main cleaning module and a secondary cleaning module, which can be selectively installed according to the working conditions and is suitable for different internal structures of horizontal diesel tanks. Compared with the current shutdown, emptying, and manual cleaning working methods, it greatly improves the safety, economy, and efficiency of cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 It is a structural schematic diagram of the internal cross-sectional view of a diesel storage tank in the related art;

[0028] Figure 2 It is a schematic diagram of the distribution of oil sludge at the bottom of the tank in the related art;

[0029] Figure 3 This is one of the structural schematic diagrams of the oil sludge cleaning robot at the bottom of a horizontal diesel tank in some embodiments of the present invention;

[0030] Figure 4 This is the second structural schematic diagram of the oil sludge cleaning robot at the bottom of a horizontal diesel tank in some embodiments of the present invention;

[0031] Figure 5 This is the third structural schematic diagram of the oil sludge cleaning robot at the bottom of a horizontal diesel tank in some embodiments of the present invention;

[0032] Figure 6 This is a fourth structural schematic diagram of a horizontal diesel tank bottom sludge cleaning robot in some embodiments of the present invention;

[0033] Figure 7 is a schematic diagram of the structure of a main cleaning module in some embodiments of the present invention;

[0034] Figure 8 is one of the structural schematic diagrams of the secondary cleaning module in some embodiments of the present invention;

[0035] Fig. 9 is a second structural schematic diagram of a secondary cleaning module in some embodiments of the present invention;

[0036] Fig.10is a schematic structural diagram of an oil sludge absorption module in some embodiments of the present invention;

[0037] Fig.11 is a schematic diagram of the application of a horizontal diesel tank bottom sludge cleaning robot in some embodiments of the present invention;

[0038] Fig.12 It is one of the structural schematic diagrams of posture adjustment of the auxiliary cleaning module in some embodiments of the present invention;

[0039] Fig.13 This is the second schematic diagram of the posture adjustment structure of the auxiliary cleaning module in some embodiments of the present invention. DETAILED DESCRIPTION

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0041] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0042] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0043] See also Figures 3 to 13 The present invention shows a horizontal diesel tank bottom sludge cleaning robot, which realizes the automatic cleaning of the tank bottom sludge of the horizontal diesel tank. Compared with the current shutdown, emptying and manual cleaning working mode, it greatly improves the cleaning safety, economy and efficiency.

[0044] See also Figures 3 to 13 In some embodiments, the horizontal diesel tank bottom sludge cleaning robot includes: a robot body 10, a cleaning device and an oil sludge suction module 40.

[0045] Among them, the robot body 10 has a first end and a second end relative to each other. The robot body 10 may include a shell and an electrical device arranged in the shell. The electrical device may include but is not limited to an underwater gyroscope, an industrial computer, a waterproof battery, and a communication module, etc., which are not specifically limited here.

[0046] The cleaning device may include a main cleaning module 20 and / or an auxiliary cleaning module 30. The main cleaning module 20 or the auxiliary cleaning module 30 may be assembled separately according to needs, or the main cleaning module 20 and the auxiliary cleaning module 30 may be assembled at the same time. It can be selectively installed according to the operating conditions and is suitable for different internal structures of horizontal diesel storage tanks.

[0047] Combination Figures 3 to 7 As shown, the main cleaning module 20 is installed at the bottom position of the first end of the robot body 10, and the main cleaning module 20 includes a fixed bracket 21 connected to the robot body 10, a double-axis pneumatic motor 22 installed on the fixed bracket 21, and a roller brush 23 installed on two mounting shafts of the double-axis pneumatic motor 22. Further, the fixed bracket 21 is used to connect the main cleaning module 20 to the robot body 10. The double-axis pneumatic motor 22 has a maximum output power of 250W, a rotation speed of 500r / min at maximum power, and a torque of 5.4Nm at maximum power. The roller brush 23 adopts a roller brush structure, and the bristles of the roller brush 23 are made of nylon silk, which is wear-resistant and durable, and not easy to shed.

[0048] Combination Figure 8 and Fig. 9As shown, the auxiliary cleaning module 30 is installed at the bottom position of the second end of the robot body 10, and the auxiliary cleaning module 30 includes a fixing frame 31, a first rocker arm 32 and a second rocker arm 33. The first rocker arm 32 is connected to the fixing frame 31, and the second end of the first rocker arm 32 is provided with a first disc brush assembly 34. The second rocker arm 33 is connected to the fixing frame 31, and the second end of the second rocker arm 33 is provided with a second disc brush assembly 35. The auxiliary cleaning module 30 also includes an adjustment mechanism for adjusting the first disc brush assembly 34 and the second disc brush assembly 35, and the adjustment mechanism is used to adjust the postures of the first disc brush assembly 34 and the second disc brush assembly 35, as shown in FIG. Figures 11 to 13 shown.

[0049] Combination Fig.10 As shown, the oil sludge suction module 40 is connected to the robot body 10 and is used to suck the oil sludge at the bottom of the horizontal diesel storage tank.

[0050] In some embodiments, the fixing frame 31 includes a mounting rod 311, a first mounting seat 312 is provided at the top of the mounting rod 311, a second mounting seat 313 is provided at the bottom of the mounting rod 311, a third mounting seat 314, a fourth mounting seat 315, a fifth mounting seat 316, and a sixth mounting seat 317 are provided at the front end of the mounting rod 311, the first mounting seat 312 is connected to the bottom of the first end on the robot body 10; the third mounting seat 314 and the fourth mounting seat 315 are respectively located on the outside of the fifth mounting seat 316 and the sixth mounting seat 317, and the fifth mounting seat 316 and the sixth mounting seat 317 are staggered in the height direction.

[0051] The first end of the first rocker arm 32 is rotatably connected to the third mounting seat 314 , and the first end of the second rocker arm 33 is rotatably connected to the fourth mounting seat 315 .

[0052] In which, the adjustment mechanism may include a first driving member 36, a second driving member 37 and a third driving member 38, one end of the first driving member 36 is installed at the bottom of the robot body 10, and the driving end of the first driving member 36 is connected to the second mounting seat 313; one end of the second driving member 37 is connected to the fifth mounting seat 316, and the driving end of the second driving member 37 is connected to the middle part of the second rocker arm 33; one end of the third driving member 38 is connected to the sixth mounting seat 317, and the driving end of the third driving member 38 is connected to the middle part of the first rocker arm 32.

[0053] like Figure 8 and Fig. 9 As shown, a first connecting plate 325 is provided in the middle of the first rocker arm 32, and a first clamping member 381 rotatably connected to the first connecting plate 325 is provided at the driving end of the third driving member 38. The first connecting plate 325 and the first clamping member 381 can be connected by a pin shaft.

[0054] A second connecting plate 335 is provided in the middle of the second rocker arm 33 , and a second clamping member 371 rotatably connected to the second connecting plate 335 is provided at the driving end of the second driving member 37 . The second connecting plate 335 and the second clamping member 371 may be connected via a pin shaft.

[0055] like Figure 8 and Fig. 9 As shown, the first rocker arm 32 is roughly in a Z-shaped structure, and the first rocker arm 32 includes a first connecting rod 321. The first end of the first connecting rod 321 is rotatably connected to the third mounting seat 314, and the second end of the first connecting rod 321 extends upward with a second connecting rod 322. The upper end of the second connecting rod 322 extends to a side away from the first connecting rod 321 with a third connecting rod 323, and the end of the third connecting rod 323 away from the second connecting rod 322 is provided with a first mounting plate 324, and the first disc brush assembly 34 is mounted on the first mounting plate 324.

[0056] The second rocker arm 33 is roughly in a Z-shaped structure, and includes a fourth connecting rod 331. The first end of the fourth connecting rod 331 is rotatably connected to the third mounting seat 314, and the second end of the fourth connecting rod 331 extends upward with a fifth connecting rod 332. The upper end of the fifth connecting rod 332 extends to a side away from the fourth connecting rod 331 with a sixth connecting rod 333. The end of the sixth connecting rod 333 away from the fifth connecting rod 332 is provided with a second mounting plate 334, and the second disc brush assembly 35 is mounted on the second mounting plate 334.

[0057] In some embodiments, the first disc brush assembly 34 includes a first drive motor 341 and a first disc brush 342 connected to the first drive motor 341 . The second disc brush assembly 35 includes a second drive motor 351 and a second disc brush 352 connected to the second drive motor 351 .

[0058] In some embodiments, the first drive member 36, the second drive member 37 and the third drive member 38 can be hydraulic cylinders or pneumatic cylinders, or pneumatic motors. Of course, in some embodiments, the first drive member 36 can be a pitch push rod, and the second drive member 37 and the third drive member 38 can be a swing push rod, or a pneumatic motor.

[0059] In this embodiment, the fixing frame 31 is used to connect the auxiliary cleaning module 30 to the robot body 10. The first driving member 36 can adjust the first disc brush 342 and the second disc brush 352 to rise and fall (such as Fig.12 The second driving member 37 and the third driving member 38 can adjust the lateral expansion size of the first disc brush 342 and the second disc brush 352 (as shown in FIG. Fig.13As shown), the first driving member 36, the second driving member 37 and the third driving member 38 can be pneumatic motors, the maximum output power of the pneumatic motor is 160W, the speed is 1570r / min at maximum power, and the torque is 1.1Nm at maximum power. The bristles of the first disc brush 342 and the second disc brush 352 are made of nylon wire, which is wear-resistant and durable and not easy to shed.

[0060] Due to the limitation of the manhole channel size (≤Φ500mm), the auxiliary cleaning module 30 needs to retract the first disc brush assembly 34 and the second disc brush assembly 35 when entering the horizontal diesel storage tank 100 to ensure that the external dimensions are minimized to meet the conditions for entering the horizontal diesel storage tank 100. After entering the horizontal diesel storage tank 100, when the auxiliary cleaning module 30 starts working, it can be expanded again according to the requirements of the cleaning operation range. In this process, the first driving member 36, the second driving member 37 and the third driving member 38 are adjusted to meet the overall posture requirements. The specific posture adjustment is as follows: Fig.12 and Fig.13 shown.

[0061] Combination Figure 3 , Figure 4 as well as Fig.10 As shown, in some embodiments, the horizontal diesel tank bottom sludge cleaning robot also includes an oil sludge suction module 40 connected to the robot body 10.

[0062] The oil suction mud module 40 includes a main oil suction mud pipeline 41, two auxiliary oil suction mud pipelines 42 and a pump suction main pipeline 43; the pump suction main pipeline 43 is connected to the main oil suction mud pipeline 41 and the two auxiliary oil suction mud pipelines 42; one end of the main oil suction mud pipeline 41 is provided with a main oil suction mud cover 411, the main oil suction mud cover 411 is connected and communicated with the fixed bracket 21, the fixed bracket 21 can be an arc-shaped shell structure, the fixed bracket 21 can be provided with a through hole, the main oil suction mud cover 411 is connected to the side of the fixed bracket 21 away from the roller brush 23, and the inner cavity of the main oil suction mud cover 411 is connected with the through hole. One end of each auxiliary oil suction mud pipeline 42 is provided with an auxiliary oil suction mud cover 421, and the auxiliary oil suction mud cover 421 is arranged close to the first disc brush assembly 34 and the second disc brush assembly 35. For example, the auxiliary oil-sludge suction cover 421 of one auxiliary oil-sludge suction pipe 42 is disposed close to the first disc brush 342 , and the auxiliary oil-sludge suction cover 421 of another auxiliary oil-sludge suction pipe 42 is disposed close to the second disc brush 352 .

[0063] The pump suction main pipeline 43 may be extended into the robot body 10. Furthermore, a transition hose 44 may be provided on the secondary oil sludge suction pipeline 42, and the transition hose can meet the pitch and swing freedom requirements of the secondary cleaning module. The pump suction main pipeline 43 may be connected to an oil suction pump to suck the sludge to the outside of the horizontal diesel storage tank 100 and separate the sludge after passing through a filtering device, thereby achieving the purpose of cleaning the tank bottom. The pump suction main pipeline 43 is connected to the oil suction pump outside the horizontal diesel storage tank 100 to ensure that the sludge brushed up by the main cleaning module 20 and the secondary cleaning module 30 when working is sucked into the filtering device outside the horizontal diesel storage tank 100 for disposal.

[0064] The main oil-sludge suction cover 411 can ensure that a negative pressure area is formed around the roller brush 23 when it is working, and the auxiliary oil-sludge suction cover 421 can ensure that a negative pressure area is formed around the first disc brush 342 and the second disc brush 352 when they are working.

[0065] In some embodiments, the main cleaning module 20 cleans the oil sludge at the flat bottom of the horizontal diesel storage tank 100, and the auxiliary cleaning module 30 cleans the oil sludge at the corners of the partition (such as Fig.11 ), of which, Fig.11 The reference numeral 101 is a T-shaped stiffener plate.

[0066] The sludge brushed off by the main cleaning module 20 and the auxiliary cleaning module 30 is sucked into the filtering device by the external oil suction pump of the horizontal diesel storage tank 100 through the sludge suction module 40, and the sludge is separated therefrom. The three work together to clean all the sludge at the bottom of the horizontal diesel storage tank 100.

[0067] like Figures 3 to 6 As shown, in some embodiments, the robot body 10 is further provided with a propulsion device 50, which includes a plurality of vertical propellers 51 respectively arranged on both sides of the robot body 10, and each side of the robot body 10 may be provided with two vertical propellers 51; and a plurality of first horizontal propellers 52 respectively arranged on both sides of the robot body 10; and a plurality of second horizontal propellers 53 respectively arranged at the first end and the second end of the robot body 10, and the propulsion directions of the first horizontal propeller 52 and the second horizontal propeller 53 are arranged perpendicular to each other, so that the horizontal diesel tank bottom sludge cleaning robot can realize rotation adjustment in the X direction, the Z direction and the Y direction. Preferably, a plurality of recess structures may be respectively arranged on both sides of the robot body 10, and the vertical propeller 51 is installed in the recess structure without interfering with the first horizontal propeller 52.

[0068] Preferably, the vertical propeller 51, the first horizontal propeller 52 and the second horizontal propeller 53 may include but are not limited to underwater propeller propellers.

[0069] In some embodiments, the bottom of the robot body 10 is further provided with a plurality of moving wheels 60. The moving wheels 60 include but are not limited to omni wheels. The number of the moving wheels 60 can be three, four, or other numbers greater than three, which are not specifically limited here.

[0070] In some embodiments, a plurality of cameras 70 are respectively disposed at the first end and the second end of the robot body 10 , and the cameras 70 can be used to monitor the cleaning status of the cleaning area.

[0071] In some embodiments, the first end and the second end of the robot body 10 are respectively provided with a plurality of light source devices 80. The light source devices 80 can be used to increase the brightness of the working environment, so that the camera 70 can monitor the cleaning status of the cleaning area.

[0072] The robot for cleaning the sludge at the bottom of a horizontal diesel tank has the following technical effects: (1) It can clean the tank without draining the oil from the horizontal diesel tank 100. (2) It combines the two mechanisms of cleaning and suction, and can completely clean the sludge at the bottom of the horizontal diesel tank 100. (3) It is equipped with a main cleaning module 20 and an auxiliary cleaning module 30, which can be selectively installed according to the working conditions and is suitable for different internal structures of horizontal diesel tanks. (4) In view of the T-shaped reinforcement rib structure inside the horizontal diesel tank 100, an auxiliary cleaning module 30 that can be pitched, extended and retracted is used to meet the sludge cleaning work.

[0073] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A horizontal diesel tank bottom sludge cleaning robot, characterized in that: include: A robot body (10), the robot body (10) having a first end and a second end opposite to each other; A cleaning device, the cleaning device comprising a main cleaning module (20) and / or a secondary cleaning module (30); the main cleaning module (20) is mounted at the bottom of the first end of the robot body (10), the main cleaning module (20) comprises a fixed bracket (21) connected to the robot body (10), a double-axis pneumatic motor (22) mounted on the fixed bracket (21), and a roller brush (23) mounted on two mounting shafts of the double-axis pneumatic motor (22); The auxiliary cleaning module (30) is installed at the bottom position of the second end of the robot body (10), and the auxiliary cleaning module (30) comprises a fixing frame (31), a first rocker arm (32) and a second rocker arm (33), the first rocker arm (32) is connected to the fixing frame (31), a first disc brush assembly (34) is provided at the second end of the first rocker arm (32), the second rocker arm (33) is connected to the fixing frame (31), and a second disc brush assembly (35) is provided at the second end of the second rocker arm (33); the auxiliary cleaning module (30) also comprises an adjusting mechanism for adjusting the first disc brush assembly (34) and the second disc brush assembly (35); An oil sludge suction module (40), the oil sludge suction module (40) is connected to the robot body (10) and is used to suck the oil sludge at the bottom of a horizontal diesel storage tank.

2. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: The fixing frame (31) comprises a mounting rod (311), a first mounting seat (312) is provided at the top of the mounting rod (311), a second mounting seat (313) is provided at the bottom of the mounting rod (311), a third mounting seat (314), a fourth mounting seat (315), a fifth mounting seat (316) and a sixth mounting seat (317) are provided at the front end of the mounting rod (311), the first mounting seat (312) is connected to the bottom of the first end on the robot body (10); the third mounting seat (314) and the fourth mounting seat (315) are respectively located on the outer sides of the fifth mounting seat (316) and the sixth mounting seat (317); the first end of the first rocker arm (32) is rotatably connected to the third mounting seat (314), and the first end of the second rocker arm (33) is rotatably connected to the fourth mounting seat (315); The adjustment mechanism comprises a first driving member (36), a second driving member (37) and a third driving member (38), one end of the first driving member (36) is installed at the bottom of the robot body (10), and the driving end of the first driving member (36) is connected to the second mounting seat (313); one end of the second driving member (37) is connected to the fifth mounting seat (316), and the driving end of the second driving member (37) is connected to the middle part of the second rocker arm (33); one end of the third driving member (38) is connected to the sixth mounting seat (317), and the driving end of the third driving member (38) is connected to the middle part of the first rocker arm (32).

3. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: A first connecting plate (325) is provided in the middle of the first rocker arm (32), and a first clamping member (381) rotatably connected to the first connecting plate (325) is provided at the driving end of the third driving member (38); A second connecting plate (335) is provided in the middle of the second rocker arm (33), and a second clamping member (371) rotatably connected to the second connecting plate (335) is provided at the driving end of the second driving member (37).

4. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: The first rocker arm (32) comprises a first connecting rod (321), a first end of the first connecting rod (321) being rotatably connected to the third mounting seat (314), a second connecting rod (322) extending upward from the second end of the first connecting rod (321), a third connecting rod (323) extending from the upper end of the second connecting rod (322) to a side away from the first connecting rod (321), a first mounting plate (324) being provided at one end of the third connecting rod (323) away from the second connecting rod (322), and the first disc brush assembly (34) being mounted on the first mounting plate (324); The second rocker arm (33) includes a fourth connecting rod (331), a first end of the fourth connecting rod (331) is rotatably connected to the third mounting seat (314), a fifth connecting rod (332) is extended upward from the second end of the fourth connecting rod (331), a sixth connecting rod (333) is extended from the upper end of the fifth connecting rod (332) to a side away from the fourth connecting rod (331), a second mounting plate (334) is provided at one end of the sixth connecting rod (333) away from the fifth connecting rod (332), and the second disc brush assembly (35) is mounted on the second mounting plate (334).

5. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: The first disc brush assembly (34) comprises a first drive motor (341) and a first disc brush (342) connected to the first drive motor (341); The second disc brush assembly (35) comprises a second drive motor (351) and a second disc brush (352) connected to the second drive motor (351).

6. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: The oil sludge suction module (40) comprises a main oil sludge suction pipeline (41), two auxiliary oil sludge suction pipelines (42) and a pump suction main pipeline (43); the pump suction main pipeline (43) is connected to the main oil sludge suction pipeline (41) and the two auxiliary oil sludge suction pipelines (42); a main oil sludge suction cover (411) is provided at one end of the main oil sludge suction pipeline (41), and the main oil sludge suction cover (411) is connected to and communicates with the fixed bracket (21); an auxiliary oil sludge suction cover (421) is provided at one end of each auxiliary oil sludge suction pipeline (42), and the auxiliary oil sludge suction cover (421) is arranged close to one side of the first disc brush assembly (34) and the second disc brush assembly (35).

7. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: The robot body (10) is also provided with a propulsion device (50), which includes a plurality of vertical propellers (51) respectively arranged on both sides of the robot body (10); and a plurality of first horizontal propellers (52) respectively arranged on both sides of the robot body (10); and a plurality of second horizontal propellers (53) respectively arranged at the first end and the second end of the robot body (10), wherein the propulsion directions of the first horizontal propellers (52) and the second horizontal propellers (53) are arranged perpendicular to each other.

8. The horizontal diesel tank bottom sludge cleaning robot according to claim 1 is characterized in that: A plurality of moving wheels (60) are also provided at the bottom of the robot body (10).

9. The horizontal diesel tank bottom sludge cleaning robot according to claim 1, characterized in that: A plurality of cameras (70) are respectively provided at the first end and the second end of the robot body (10).

10. The horizontal diesel tank bottom sludge cleaning robot according to claim 1, characterized in that: A plurality of light source devices (80) are respectively provided at the first end and the second end of the robot body (10).

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