Horizontal diesel oil storage tank bottom sludge cleaning robot

Abstract

The application discloses a horizontal diesel storage tank bottom sludge cleaning robot, which comprises a robot body, a cleaning device, a main cleaning module and / or a secondary cleaning module, the main cleaning module comprises a fixing support, a double-shaft pneumatic motor and a roller brush, the secondary 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, the second end of the first rocker arm is provided with a first disc brush assembly, the second rocker arm is connected with the fixing frame, the second end of the second rocker arm is provided with a second disc brush assembly, the secondary cleaning module further comprises an adjusting mechanism for adjusting the first disc brush assembly and the second disc brush assembly, and an oil sludge suction module is connected with the robot body and used for sucking the horizontal diesel storage tank bottom sludge. Compared with the current shutdown, emptying and manual cleaning mode, the cleaning safety, economy and efficiency are greatly improved.

Description

Technical Field

[0001] This invention relates to a device for cleaning sludge from the bottom of a horizontal fuel tank, and more particularly to a robot for cleaning sludge from the bottom of a horizontal diesel tank. Background Technology

[0002] Nuclear power plant emergency diesel engine systems require long-term (the entire lifespan) standby storage of fuel oil. The safe operation of the storage tanks is a prerequisite for the normal functioning of the emergency diesel engine system. Furthermore, due to long-term standby storage, microorganisms, sulfides, organic acids, colloids, and other inorganic impurities such as mechanical impurities, sand, mud, and heavy metal salts present in the fuel will naturally settle due to density differences, accumulating at the bottom of the storage tank to form a thick, black, gelatinous sludge. This sludge not only reduces the effective capacity of the storage tank and causes corrosion to the tank bottom, but also affects fuel quality when it accumulates to a certain extent. Therefore, the storage tanks must be cleaned regularly.

[0003] The internal structure of the diesel storage tank is as follows Figure 1 As shown, the manhole clearance is ≤ Φ500mm, the T-shaped reinforcing ribs are approximately 200-300mm high and spaced approximately 600mm apart. Oil sludge deposits at the bottom of the tank as shown... Figure 2 As shown, the black area at the bottom is the sludge zone, with a height of approximately 250 mm. The upper layer consists of flocculent material, while the lower layer is a viscous, gel-like sludge.

[0004] Existing technologies mostly rely on manual cleaning, but manual cleaning has the following drawbacks: the equipment needs to be shut down, the oil drained, and people need to enter the tank to clean, rinse, and wipe, which is unsafe and inefficient. Summary of the Invention

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

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

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

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

[0009] The auxiliary cleaning module is installed at the bottom of the second end of the robot body. 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, and a first disc brush assembly is provided at the second end of the first rocker arm. The second rocker arm is connected to the fixed frame, and a second disc brush assembly is provided at the second end of the second rocker arm. 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, which is connected to the robot body, is used to suction oil sludge from the bottom of a horizontal diesel storage tank.

[0011] In some embodiments, the mounting frame includes a mounting rod, a first mounting seat at the top of the mounting rod, a second mounting seat at the bottom of the mounting rod, and a third, fourth, fifth, and sixth mounting seats at the front end of the mounting rod. The first mounting seat is connected to the bottom of a first end on the robot body. The third and fourth mounting seats are located outside the fifth and sixth mounting seats, respectively. 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 drive member, a second drive member, and a third drive member. One end of the first drive member is mounted on the bottom of the robot body, and the drive end of the first drive member is connected to the second mounting base. One end of the second drive member is connected to the fifth mounting base, and the drive end of the second drive member is connected to the middle part of the second rocker arm. One end of the third drive member is connected to the sixth mounting base, and the drive end of the third drive member is connected to the middle part of the first rocker arm.

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

[0014] The second rocker arm has a second connecting plate in the middle, and the driving end of the second driving member has a second clamping member that is rotatably connected to the second connecting plate.

[0015] In some embodiments, the first rocker arm includes a first connecting rod, a first end of the first connecting rod being rotatably connected to the third mounting base, a second connecting rod extending upward from the second end of the first connecting rod, a third connecting rod extending from the upper end of the second connecting rod away from the first connecting rod, a first mounting plate being provided at the end of the third connecting rod away from the second connecting rod, and the first disc brush assembly being mounted on the first mounting plate.

[0016] The second rocker arm includes a fourth connecting rod, the first end of which is rotatably connected to the third mounting base, the second end of which extends upward to form a fifth connecting rod, and the upper end of which extends away from the fourth connecting rod to form a sixth connecting rod. The end of the sixth connecting rod away from the fifth connecting rod is provided with a second mounting plate, 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 storage tank bottom sludge cleaning robot further includes an oil sludge suction module connected to the robot body;

[0020] The oil-absorbing sludge module includes a main oil-absorbing sludge pipe, two auxiliary oil-absorbing sludge pipes, and a pump-suction main pipe; the pump-suction main pipe is connected to the main oil-absorbing sludge pipe and the two auxiliary oil-absorbing sludge pipes; one end of the main oil-absorbing sludge pipe is provided with a main oil-absorbing sludge cover, which is connected and communicates with the fixed bracket; one end of each auxiliary oil-absorbing sludge pipe is provided with an auxiliary oil-absorbing sludge cover, and the auxiliary oil-absorbing sludge cover is located near the side of the first disc brush assembly and the second disc brush assembly.

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

[0022] In some embodiments, the bottom of the robot body is also provided with several wheels.

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

[0024] In some embodiments, the first and second ends of the robot body are respectively provided with a plurality of light source devices.

[0025] The present invention offers the following advantages: The horizontal diesel storage tank bottom sludge cleaning robot enables tank cleaning without draining oil. It combines sweeping and suction mechanisms, ensuring complete cleaning of the bottom sludge of horizontal diesel storage tanks. Equipped with a main cleaning module and a secondary cleaning module, it can be selectively installed according to operating conditions and is suitable for different internal structures of horizontal diesel storage tanks. Compared to current methods of shutdown, emptying, and manual cleaning, this invention significantly improves cleaning safety, economy, and efficiency. Attached Figure Description

[0026] 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 some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

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

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

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

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

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

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

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

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

[0035] Figure 9 This is a second schematic diagram of the structure of the secondary cleaning module in some embodiments of the present invention;

[0036] Figure 10This is a schematic diagram of the structure of the oil-absorbing sludge module in some embodiments of the present invention;

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

[0038] Figure 12 This is one of the schematic diagrams of the attitude adjustment structure of the secondary cleaning module in some embodiments of the present invention;

[0039] Figure 13 This is the second schematic diagram of the attitude adjustment structure of the secondary cleaning module in some embodiments of the present invention. Detailed Implementation

[0040] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention.

[0041] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0042] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0043] See Figures 3 to 13 This invention discloses a robot for cleaning oil sludge at the bottom of a horizontal diesel storage tank, which realizes automatic cleaning of oil sludge at the bottom of the horizontal diesel storage tank. Compared with the current work methods of stopping work, emptying, and manual cleaning, it greatly improves the safety, economy and efficiency of cleaning.

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

[0045] The robot body 10 has a first end and a second end. The robot body 10 may include a shell and an electrical device disposed in the shell. The electrical device may include, but is not limited to, an underwater gyroscope, an industrial control computer, a waterproof battery and a communication module, etc., without specific limitations.

[0046] The cleaning device may include a main cleaning module 20 and / or a secondary cleaning module 30. The main cleaning module 20 or the secondary cleaning module 30 may be installed separately or simultaneously, depending on the requirements. 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 of the first end of the robot body 10. The main cleaning module 20 includes a fixed bracket 21 connected to the robot body 10, a dual-axis pneumatic motor 22 mounted on the fixed bracket 21, and roller brushes 23 mounted on the two mounting shafts of the dual-axis pneumatic motor 22. Further, the fixed bracket 21 is used to connect the main cleaning module 20 to the robot body 10. The dual-axis pneumatic motor 22 has a maximum output power of 250W, a maximum speed of 500r / min, and a maximum torque of 5.4Nm. The roller brushes 23 adopt a roller brush structure, and the bristles of the roller brushes 23 are made of nylon filaments, which are wear-resistant, durable, and do not easily shed.

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

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

[0050] In some embodiments, the mounting bracket 31 includes a mounting rod 311, a first mounting seat 312 at the top of the mounting rod 311, a second mounting seat 313 at the bottom of the mounting rod 311, and a third mounting seat 314, a fourth mounting seat 315, a fifth mounting seat 316, and a sixth mounting seat 317 at the front end of the mounting rod 311. The first mounting seat 312 is connected to the bottom of the first end of the robot body 10. The third mounting seat 314 and the fourth mounting seat 315 are located outside the fifth mounting seat 316 and the sixth mounting seat 317, respectively, 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 base 314, and the first end of the second rocker arm 33 is rotatably connected to the fourth mounting base 315.

[0052] The adjustment mechanism may include a first drive member 36, a second drive member 37, and a third drive member 38. One end of the first drive member 36 is mounted on the bottom of the robot body 10, and the drive end of the first drive member 36 is connected to the second mounting base 313. One end of the second drive member 37 is connected to the fifth mounting base 316, and the drive end of the second drive member 37 is connected to the middle of the second rocker arm 33. One end of the third drive member 38 is connected to the sixth mounting base 317, and the drive end of the third drive member 38 is connected to the middle of the first rocker arm 32.

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

[0054] The second rocker arm 33 has a second connecting plate 335 in the middle, and the driving end of the second driving member 37 has a second clamping member 371 that is rotatably connected to the second connecting plate 335. The second connecting plate 335 and the second clamping member 371 can be connected by a pin.

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

[0056] The second rocker arm 33 is generally Z-shaped. The second rocker arm 33 includes a fourth connecting rod 331. The first end of the fourth connecting rod 331 is rotatably connected to the third mounting base 314. The second end of the fourth connecting rod 331 extends upward to a fifth connecting rod 332. The upper end of the fifth connecting rod 332 extends away from the fourth connecting rod 331 to 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. 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 may be a hydraulic cylinder, a pneumatic cylinder, or a pneumatic motor. Of course, in some embodiments, the first drive member 36 may be a pitch push rod, and the second drive member 37 and the third drive member 38 may be a swing push rod or a pneumatic motor.

[0059] In this embodiment, the mounting bracket 31 is used to connect the auxiliary cleaning module 30 to the robot body 10. The first drive component 36 can adjust the raising and lowering of the first disc brush 342 and the second disc brush 352 (e.g., Figure 12 As shown), the second drive unit 37 and the third drive unit 38 can adjust the lateral expansion size of the first disc brush 342 and the second disc brush 352 (as shown). Figure 13As shown, the first drive component 36, the second drive component 37 and the third drive component 38 can be pneumatic motors. The pneumatic motors have a maximum output power of 160W, a speed of 1570r / min at maximum power, and a torque of 1.1Nm at maximum power. The bristles of the first disc brush 342 and the second disc brush 352 are made of nylon filaments, which are wear-resistant, durable and not easy to shed.

[0060] Due to the limitation of the manhole passage 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 the smallest possible external dimensions to meet the entry requirements of the horizontal diesel storage tank 100. After entering the horizontal diesel storage tank 100, the auxiliary cleaning module 30 can be deployed according to the cleaning operation area requirements. During this process, the first drive component 36, the second drive component 37, and the third drive component 38 are adjusted to meet the overall posture requirements. Specific posture adjustments are as follows: Figure 12 and Figure 13 As shown.

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

[0062] The oil-absorbing sludge module 40 includes a main oil-absorbing sludge pipe 41, two auxiliary oil-absorbing sludge pipes 42, and a pump-suction main pipe 43. The pump-suction main pipe 43 is connected to the main oil-absorbing sludge pipe 41 and the two auxiliary oil-absorbing sludge pipes 42. One end of the main oil-absorbing sludge pipe 41 is provided with a main oil-absorbing sludge cover 411, which is connected and communicates with the fixed bracket 21. The fixed bracket 21 can be an arc-shaped shell structure, and it can be provided with a through hole. The main oil-absorbing sludge 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-absorbing sludge cover 411 communicates with the through hole. One end of each auxiliary oil-absorbing sludge pipe 42 is provided with an auxiliary oil-absorbing sludge cover 421, which is located near the first disc brush assembly 34 and the second disc brush assembly 35. For example, one of the auxiliary oil-absorbing sludge pipes 42 has an auxiliary oil-absorbing sludge cover 421 located near the first disc brush 342, and another auxiliary oil-absorbing sludge pipe 42 has an auxiliary oil-absorbing sludge cover 421 located near the second disc brush 352.

[0063] The main suction pipe 43 can extend into the robot body 10. Furthermore, the auxiliary sludge suction pipe 42 can be equipped with a transition hose 44, which can meet the pitch and swing freedom requirements of the auxiliary cleaning module. The main suction pipe 43 can be connected to an oil suction pump to draw the sludge to the outside of the horizontal diesel storage tank 100, where it is separated by a filter device, thus achieving the purpose of cleaning the tank bottom. The main suction pipe 43 is connected to an oil suction pump outside the horizontal diesel storage tank 100, ensuring that the sludge brushed up by the main cleaning module 20 and auxiliary cleaning module 30 during operation is drawn to the external filter device of the horizontal diesel storage tank 100 for treatment.

[0064] The main oil-absorbing mud cover 411 can ensure that a negative pressure area is formed around the roller brush 23 when it is working, and the auxiliary oil-absorbing mud 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 sludge at the flat bottom of the horizontal diesel storage tank 100, while the auxiliary cleaning module 30 cleans the sludge at the corners of the partitions (e.g., ...). Figure 11 As shown), among which, attached Figure 11 The designation 101 is a T-shaped reinforcing rib plate.

[0066] The sludge brushed off by the main cleaning module 20 and the auxiliary cleaning module 30 is sucked by the external oil suction pump of the horizontal diesel storage tank 100 through the oil suction module 40 to the filter device and separated. The three work together to achieve the cleaning of all the oil 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 thrusters 51 respectively arranged on both sides of the robot body 10, with two vertical thrusters 51 arranged on each side of the robot body 10; a plurality of first horizontal thrusters 52 respectively arranged on both sides of the robot body 10; and a plurality of second horizontal thrusters 53 respectively arranged at the first end and the second end of the robot body 10. The propulsion directions of the first horizontal thrusters 52 and the second horizontal thrusters 53 are arranged perpendicular to each other, so that the horizontal diesel storage tank bottom sludge cleaning robot can realize rotational adjustment in the X, Z and Y directions. Preferably, a plurality of recessed structures may be provided on both sides of the robot body 10, and the vertical thrusters 51 are installed in the recessed structures without interfering with the first horizontal thrusters 52.

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

[0069] In some embodiments, the bottom of the robot body 10 is also 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, and no specific limitation is made here.

[0070] In some embodiments, the robot body 10 is provided with a plurality of cameras 70 at its first and second ends, which can be used to monitor the cleaning status of the cleaning area.

[0071] In some embodiments, the robot body 10 is provided with a plurality of light source devices 80 at its first and second ends. The light source devices 80 can be used to increase the brightness of the working environment, making it easier for the camera 70 to monitor the cleaning status of the cleaning area.

[0072] The horizontal diesel storage tank bottom sludge cleaning robot has the following technical effects: (1) It can complete the tank cleaning operation without draining oil from the horizontal diesel storage tank 100. (2) It combines sweeping and suction mechanisms, which can completely clean the sludge at the bottom of the horizontal diesel storage tank 100. (3) It is equipped with a main cleaning module 20 and a secondary cleaning module 30, which can be selectively installed according to the working conditions and are suitable for different internal structures of horizontal diesel storage tanks. (4) For the T-shaped reinforcing rib structure inside the horizontal diesel storage tank 100, a tilting, extending and retracting secondary cleaning module 30 is adopted to meet the sludge cleaning work.

[0073] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A horizontal diesel storage tank bottom sludge cleaning robot, characterized in that, include: The robot body (10) has a first end and a second end opposite to each other; The cleaning device includes a main cleaning module (20) and a secondary cleaning module (30); the main cleaning module (20) is installed at the bottom 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 dual-axis pneumatic motor (22) installed on the fixed bracket (21), and roller brushes (23) installed on the two mounting shafts of the dual-axis pneumatic motor (22). The auxiliary cleaning module (30) is installed at the bottom of the second end of the robot body (10). The auxiliary cleaning module (30) includes a fixed frame (31), a first rocker arm (32), and a second rocker arm (33). The first rocker arm (32) is connected to the fixed frame (31). 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 fixed frame (31). 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). The fixed frame (31) includes a mounting rod (311). The top of the device is provided with a first mounting seat (312), the bottom of the mounting rod (311) is provided with a second mounting seat (313), and the front end of the mounting rod (311) is provided with a third mounting seat (314), a fourth mounting seat (315), a fifth mounting seat (316), and a sixth mounting seat (317). The first mounting seat (312) is connected to the bottom of the first end of the robot body (10). The third mounting seat (314) and the fourth mounting seat (315) are located on the outside of the fifth mounting seat (316) and the sixth mounting seat (317), respectively. 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 includes a first drive member (36), a second drive member (37), and a third drive member (38). One end of the first drive member (36) is mounted on the bottom of the robot body (10), and the drive end of the first drive member (36) is connected to the second mounting base (313). One end of the second drive member (37) is connected to the fifth mounting base (316), and the drive end of the second drive member (37) is connected to the middle of the second rocker arm (33). One end of the third drive member (38) is connected to the sixth mounting base (317), and the drive end of the third drive member (38) is connected to the first rocker arm (33). The middle connection of 32); 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 base (314), the second end of the first connecting rod (321) extends upward to a second connecting rod (322), the upper end of the second connecting rod (322) extends to a third connecting rod (323) away from the first connecting rod (321), 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); The second rocker arm (33) includes a fourth connecting rod (331), the first end of which is rotatably connected to the third mounting base (314), the second end of which extends upward to a fifth connecting rod (332), the upper end of which extends away from the fourth connecting rod (331) to a sixth connecting rod (333), the end of which is 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); Oil sludge suction module (40), which is connected to the robot body (10), is used to suction oil sludge from the bottom of a horizontal diesel storage tank.

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

3. The horizontal diesel storage tank bottom sludge cleaning robot according to claim 1, characterized in that, 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).

4. The horizontal diesel storage tank bottom sludge cleaning robot according to claim 1, characterized in that, The oil-absorbing sludge module (40) includes a main oil-absorbing sludge pipe (41), two auxiliary oil-absorbing sludge pipes (42), and a pump-suction main pipe (43); the pump-suction main pipe (43) is connected to the main oil-absorbing sludge pipe (41) and the two auxiliary oil-absorbing sludge pipes (42); one end of the main oil-absorbing sludge pipe (41) is provided with a main oil-absorbing sludge cover (411), and the main oil-absorbing sludge cover (411) is connected and communicates with the fixed bracket (21); one end of each auxiliary oil-absorbing sludge pipe (42) is provided with an auxiliary oil-absorbing sludge cover (421), and the auxiliary oil-absorbing sludge cover (421) is set on the side close to the first disc brush assembly (34) and the second disc brush assembly (35).

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

6. The horizontal diesel storage tank bottom sludge cleaning robot according to claim 1, characterized in that, The bottom of the robot body (10) is also provided with several wheels (60).

7. The horizontal diesel storage tank bottom sludge cleaning robot according to claim 1, characterized in that, The robot body (10) is equipped with several cameras (70) at its first and second ends respectively.

8. The horizontal diesel storage tank bottom sludge cleaning robot according to claim 1, characterized in that, The robot body (10) is provided with several light source devices (80) at its first and second ends respectively.

Images