Tank environment-oriented crawler-type autonomous desilting / cleaning robot

Abstract

The invention discloses a crawler-type autonomous desilting / cleaning robot facing a tank environment. The crawler-type autonomous desilting / cleaning robot comprises a main body frame, a crawler walking mechanism, a stirring desilting system, a high-pressure silt flushing system and a cutter suction head adjusting mechanism. The stirring desilting system and the high-pressure silt flushing system are arranged in the main body frame and are used for stirring desilting operation and high-pressure silt flushing operation; the cutter suction head adjusting mechanism is arranged at the front end of the main body frame; the cutter suction head adjusting mechanism is matched with the stirring dredging system and the high-pressure silt flushing system to adjust the range and angle of stirring dredging and high-pressure silt flushing operation. Sludge in the tank body is stirred and scoured through the stirring desilting system and the high-pressure silt flushing system, the desilting efficiency and the desilting effect can be effectively improved, meanwhile, the operation range and the operation angle of stirring desilting and high-pressure silt flushing can be adjusted through the cutter suction head adjusting mechanism, the desilting area can be enlarged, and the desilting effect is improved. And the dredging / cleaning robot can better cross the obstacles, so that the dredging efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging robots, and more specifically, to a crawler-type autonomous dredging / washing robot for tank environments. Background Art

[0002] Large storage tanks are widely used in industries such as nuclear industry, petrochemical industry, medicine, and grain storage in China to store radioactive waste, crude oil, chemical raw materials, and medicinal materials. During years of use, a large amount of bottom sediment will accumulate inside the tanks. For example, the amount of oily sludge produced by oil and gas fields in China during production activities reaches several million tons per year. If not properly treated, it will not only accelerate the corrosion of the tank bottom and wall, reduce the service life of the tank, but also pose a serious threat to the environment.

[0003] Traditional methods for cleaning the sediment at the bottom of the tank mainly include manual cleaning, mechanical cleaning, dry cleaning method, wet cleaning method, steam cleaning method, and chemical cleaning method, etc. For example, in manual cleaning, although tools such as brushes and shovels can be used to directly clean stubborn sediment by mechanical means, due to the sealing of the tank, there is a risk of poisoning and fire and explosion, and at the same time, the labor intensity is high and the efficiency is low.

[0004] Most existing dredging robots disperse and suck the sludge by a cutter head stirring, but lack a cleaning step, and the dredging effect is not ideal. Some dredging robots use a multi-degree-of-freedom robotic arm for dredging. Although it can meet the accessibility of flushing in multiple directions in the surrounding area of the dredging robot and has strong flexibility, the robotic arm solution has a high cost, complex algorithms, and is easily affected by the sludge in the complex tank environment. Summary of the Invention

[0005] In view of this, the present invention provides a crawler-type autonomous dredging / washing robot for tank environments, and the purpose is to solve the problems existing in the prior art.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: A crawler-type autonomous dredging / washing robot for tank environments, comprising: A main frame; Two crawler traveling mechanisms; the two crawler traveling mechanisms are symmetrically arranged on the left and right sides of the main frame; A stirring and dredging system; the stirring and dredging system is arranged inside the main frame and is used for stirring and dredging operations; A high-pressure flushing and dredging system; the high-pressure flushing and dredging system is arranged inside the main frame and is used for high-pressure flushing and dredging operations; Suction head adjustment mechanism; the suction head adjustment mechanism is arranged at the front end of the main frame; the suction head adjustment mechanism cooperates with the stirring and dredging system and the high-pressure silt flushing system to adjust the operation range and angle of stirring and dredging and high-pressure silt flushing.

[0007] Preferably, the suction head adjustment mechanism includes a left-right adjustment frame, a left-right adjustment electric cylinder, an up-down adjustment frame and an up-down adjustment electric cylinder; the up-down adjustment frame is hinged to the front end of the main frame; the fixed end of the up-down adjustment electric cylinder is rotatably connected to the upper front side of the main frame; the driving end of the up-down adjustment electric cylinder is hinged to the upper end of the up-down adjustment frame; the left-right adjustment frame is hinged to the front end of the up-down adjustment frame; the fixed end of the left-right adjustment electric cylinder is rotatably connected to the up-down adjustment frame; the driving end of the left-right adjustment electric cylinder is hinged to the left-right adjustment frame.

[0008] Preferably, the stirring and dredging system includes a dredging cutter motor, a dredging cutter, a silt suction pipe, a mud suction pump and a silt discharge pipe; the dredging cutter motor is arranged at the front end of the left-right adjustment frame; the dredging cutter is arranged at the output end of the dredging cutter motor; the mud suction pump is arranged inside the main frame; one end of the silt suction pipe is connected to the inlet of the mud suction pump, and the other end of the silt suction pipe is connected to the front end of the left-right adjustment frame; the silt discharge pipe is connected to the outlet of the mud suction pump.

[0009] Preferably, the stirring and dredging system further includes a flow meter; the outlet of the mud suction pump is connected to the silt discharge pipe through the flow meter.

[0010] Preferably, the number of the dredging cutter motors is two; the two dredging cutter motors are symmetrically arranged left and right at the front end of the left-right adjustment frame; the end of the silt suction pipe far from the mud suction pump is arranged between the two dredging cutter motors.

[0011] Preferably, the high-pressure silt flushing system includes a high-pressure water flushing pipe, a high-pressure water delivery pipe, a high-pressure water flushing pump and a high-pressure water supply pipe; the high-pressure water flushing pipe is arranged at the front end of the left-right adjustment frame; the high-pressure water flushing pump is arranged inside the main frame; one end of the high-pressure water delivery pipe is connected to the outlet of the high-pressure water flushing pump, and the other end of the high-pressure water delivery pipe is connected to the high-pressure water flushing pipe; the high-pressure water supply pipe is connected to the inlet of the high-pressure water flushing pump; branch pipes are arranged on the high-pressure water flushing pipe; the other end of the branch pipe is connected to the left-right adjustment frame and corresponds to the dredging cutter.

[0012] Preferably, the crawler travel mechanism includes a small support tensioning wheel, a large support tensioning wheel, a tensioning adjustment assembly for adjusting the position of the large support tensioning wheel, a main body wheel frame, support wheels, a driving wheel, a crawler, a speed reducer, and an underwater crawler motor; the main body wheel frame is arranged on the main body frame; the small support tensioning wheel is arranged at the upper middle part of the main body wheel frame; the tensioning adjustment assembly is arranged at the upper front side of the main body wheel frame; the large support tensioning wheel is arranged at the front end of the tensioning adjustment assembly; the support wheels are arranged on both the front and rear sides of the lower end of the main body wheel frame; the driving wheel is arranged at the upper rear side of the main body wheel frame; the crawler is sleeved outside the small support tensioning wheel, the large support tensioning wheel, the support wheels, and the driving wheel; the speed reducer is arranged at the upper rear side of the main body wheel frame; the output end of the underwater crawler motor is connected to the input end of the speed reducer; the output end of the speed reducer is connected to the driving wheel.

[0013] Preferably, the tensioning adjustment assembly includes a tensioning rod conduit, a tensioning wheel guide rod, a tensioning adjustment nut, and a tensioning adjustment bolt; the tensioning rod conduit is arranged at the upper front side of the main body wheel frame; the tensioning wheel guide rod is slidably arranged inside the tensioning rod conduit; the large support tensioning wheel is arranged at the front end of the tensioning wheel guide rod; the tensioning adjustment nut is fixedly connected to the rear end of the tensioning rod conduit; the tensioning adjustment bolt is threadedly connected to the tensioning adjustment nut; the front end of the tensioning adjustment bolt abuts against the rear end of the tensioning wheel guide rod.

[0014] Preferably, the crawler travel mechanism further includes a movable support triangular wheel frame; the movable support triangular wheel frame is hinged to the lower middle part of the main body wheel frame; two support wheels are arranged at the lower end of the movable support triangular wheel frame.

[0015] Preferably, it further includes an electric control box; the electric control box is arranged at the upper end of the main body frame; a main control device is arranged inside the electric control box for transmitting control information to the crawler travel mechanism, the stirring and dredging system, the high-pressure silt flushing system, and the cutter suction head adjustment mechanism. The present invention has achieved the following technical effects compared with the prior art: 1) By combining the stirring dredging system and the high-pressure scouring system, the present invention can simultaneously stir and break up the sludge inside the tank body and scour and break it with high-pressure water flow, thereby effectively improving the dredging efficiency and effect. At the same time, through the cutterhead adjustment mechanism, the operation range and angle of the stirring dredging and high-pressure scouring can be adjusted. This can not only expand the dredging area without increasing the width of the main frame, but also enable the dredging / washing robot to be applicable to terrains with a certain inclination angle, thus improving the dredging efficiency. Moreover, when encountering obstacles, the front angle of the stirring dredging system and the high-pressure scouring system can be changed through the cutterhead adjustment mechanism, enabling the dredging / washing robot to better cross the obstacles and further improving the obstacle-crossing ability of the dredging / washing robot.

[0016] 2) The present invention uses an electric cylinder to control the up-and-down and left-and-right swinging of the cutterhead adjustment mechanism, which is more stable and efficient compared to hydraulic control, thus better adapting to the complex environment inside the tank body and further improving the dredging efficiency.

[0017] 3) By adopting the dual-breaking design of simultaneously stirring and scouring the sludge with a dredging cutter and a high-pressure flushing pipe, the present invention can greatly improve the dredging efficiency and effect. At the same time, through the cutterhead adjustment mechanism, the angle of the high-pressure flushing pipe can be adjusted to wash the inner surface of the tank, further improving the dredging effect.

[0018] 4) Through the sludge suction pump and the sludge discharge pipe, the present invention can continuously discharge the broken sludge out of the tank, realizing the sustainability of dredging and sludge discharge and improving the dredging efficiency.

[0019] 5) By adopting a crawler travel mechanism, the present invention improves the walking ability of the dredging / washing robot inside the tank body, thereby improving the dredging efficiency. At the same time, through the cooperation of the large support idler, small support idler and tension adjustment components, the tension of the crawler can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a crawler-type autonomous dredging / washing robot for a tank body environment from the first perspective; Figure 2 is a schematic structural diagram of a crawler-type autonomous dredging / washing robot for a tank body environment from the second perspective; Figure 3 is a schematic structural diagram of a crawler-type autonomous dredging / washing robot for a tank body environment from the third perspective; Figure 4 is a schematic structural diagram of the stirring dredging system; Figure 5 is a schematic structural diagram of the dredging cutter part; Figure 6It is a schematic structural diagram of a high-pressure scouring and silting system; Figure 7 It is a schematic structural diagram of a cutter suction head adjusting mechanism; Figure 8 It is a schematic structural diagram of a crawler traveling mechanism from the first perspective; Figure 9 It is a schematic structural diagram of a crawler traveling system from the second perspective; In the figure: 1. Stirring and scouring and silting system; 1-1. Scouring and silting cutter motor; 1-2. Scouring and silting cutter; 1-3. Silt suction pipe; 1-4. Suction pump mounting seat; 1-5. Suction pump; 1-6. Flowmeter; 1-7. Silt discharge pipe; 2. High-pressure scouring and silting system; 2-1. High-pressure water pipe; 2-2. High-pressure water delivery pipe; 2-3. High-pressure water pump mounting seat; 2-4. High-pressure water pump; 2-5. High-pressure water supply pipe; 3. Cutter suction head adjusting mechanism; 3-1. Left and right adjusting cylinder mounting hinge seat; 3-2. Left and right adjusting frame; 3-3. Left and right adjusting cylinder; 3-4. Left and right adjusting cylinder mounting seat; 3-5. Up and down adjusting frame; 3-6. Up and down adjusting cylinder mounting seat; 3-7. Up and down adjusting cylinder; 3-8. Up and down adjusting cylinder mounting hinge seat; 4. Main body frame; 5. Electric control box; 6. Crawler traveling mechanism; 6-1. Small support tensioning wheel; 6-2. Tensioning rod conduit; 6-3. Tensioning wheel guide rod; 6-4. Large support tensioning wheel; 6-5. Main body wheel frame; 6-6. Support wheel; 6-7. Wheel frame connecting plate; 6-8. Movable support triangular wheel frame; 6-9. Tensioning adjustment nut; 6-10. Tensioning adjustment bolt; 6-11. Driving wheel; 6-12. Crawler; 6-13. Reducer; 6-14. Reducer mounting plate; 6-15. Underwater crawler motor. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. Embodiment

[0022] Referring to Figures 1-9 As shown, the present invention discloses a crawler-type autonomous scouring and silting / washing robot for a tank environment, including: Main body frame 4; Two crawler traveling mechanisms 6; the two crawler traveling mechanisms 6 are symmetrically arranged on the left and right sides of the main body frame 4 and are used to drive the scouring and silting / washing robot to travel; Stirring and scouring and silting system 1; the stirring and scouring and silting system 1 is arranged inside the main body frame 4 and is used for stirring and scouring and silting operations; High-pressure scouring and silt removal system 2; The high-pressure scouring and silt removal system 2 is arranged inside the main frame 4 and is used for high-pressure scouring and silt removal operations; Suction head adjustment mechanism 3; The suction head adjustment mechanism 3 is arranged at the front end of the main frame 4; The suction head adjustment mechanism 3 cooperates with the agitation and silt removal system 1 and the high-pressure scouring and silt removal system 2 to adjust the operation range and angle of the agitation and silt removal and high-pressure scouring and silt removal operations.

[0023] Through the cooperation of the agitation and silt removal system and the high-pressure scouring and silt removal system, the above technical solution can simultaneously stir and break the sludge inside the tank body and wash and break it with high-pressure water flow, thereby effectively improving the silt removal efficiency and effect. At the same time, through the suction head adjustment mechanism, the operation range and operation angle of the agitation and silt removal and high-pressure scouring and silt removal can be adjusted. Not only can the silt removal area be expanded without increasing the width of the main frame, but also the silt removal / washing robot can be applicable to terrains with a certain inclination angle, thereby improving the silt removal efficiency. Moreover, when encountering obstacles, the front angle of the agitation and silt removal system and the high-pressure scouring and silt removal system can be changed through the suction head adjustment mechanism, so that the silt removal / washing robot can better cross the obstacles, and thus the obstacle-crossing ability of the silt removal / washing robot can be improved.

[0024] In this embodiment, the suction head adjustment mechanism 3 includes a left-right adjustment frame 3-2, a left-right adjustment electric cylinder 3-3, an up-down adjustment frame 3-5, and an up-down adjustment electric cylinder 3-7; The up-down adjustment frame 3-5 is hinged to the front end of the main frame 4; The fixed end of the up-down adjustment electric cylinder 3-7 is rotatably connected to the upper end of the front side of the main frame 4; The driving end of the up-down adjustment electric cylinder 3-7 is hinged to the upper end of the up-down adjustment frame 3-5; During use, through the telescopic movement of the driving end of the up-down adjustment electric cylinder 3-7 and the cooperation of three rotating pairs, the up-down swing of the up-down adjustment frame 3-5 is realized; The left-right adjustment frame 3-2 is hinged to the front end of the up-down adjustment frame 3-5; The fixed end of the left-right adjustment electric cylinder 3-3 is rotatably connected to the up-down adjustment frame 3-5; The driving end of the left-right adjustment electric cylinder 3-3 is hinged to the left-right adjustment frame 3-2; During use, the telescopic movement of the driving end of the left-right adjustment electric cylinder 3-3 and the cooperation of three rotating pairs realize the left-right swing of the left-right adjustment frame 3-2. Thus, through the up-down adjustment electric cylinder and the left-right adjustment electric cylinder, the up-down and left-right swing of the left-right adjustment frame can be controlled, so as to change the angles of the stirring and scouring parts of the agitation and silt removal system and the high-pressure scouring and silt removal system.

[0025] In this embodiment, an up-down adjustment electric cylinder mounting seat 3-6 is provided at the middle position of the upper end of the front side of the main frame 4; The up-down adjustment electric cylinder 3-7 is connected to the up-down adjustment electric cylinder mounting seat 3-6 through a bearing and can rotate freely; A middle part of the upper end of the up-down adjustment frame 3-5 is provided with an up-down adjustment electric cylinder mounting hinge seat 3-8; The driving end of the up-down adjustment electric cylinder 3-7 is hinged to the up-down adjustment electric cylinder mounting hinge seat 3-8.

[0026] In this embodiment, a left and right adjustment electric cylinder mounting seat 3-4 is provided at the lower end of the up and down adjustment frame 3-5; the left and right adjustment electric cylinder 3-3 is connected to the left and right adjustment electric cylinder mounting seat 3-4 through a bearing and can rotate freely; the left and right adjustment electric cylinder mounting hinge seat 3-1 is arranged in the middle of the left and right adjustment frame 3-2; the driving end of the left and right adjustment electric cylinder 3-3 is hinged to the left and right adjustment electric cylinder mounting hinge seat 3-1.

[0027] In this embodiment, the stirring and dredging system 1 includes a dredging cutter motor 1-1, a dredging cutter 1-2, a sludge suction pipe 1-3, a sludge suction pump 1-5 and a sludge discharge pipe 1-7; the dredging cutter motor 1-1 is arranged at the front end of the left and right adjustment frame 3-2; the dredging cutter 1-2 is arranged at the output end of the dredging cutter motor 1-1; the sludge suction pump 1-5 is arranged inside the main frame 4; one end of the sludge suction pipe 1-3 is connected to the inlet of the sludge suction pump 1-5, and the other end of the sludge suction pipe 1-3 is connected to the front end of the left and right adjustment frame 3-2; the sludge discharge pipe 1-7 is connected to the outlet of the sludge suction pump 1-5 and is used to discharge the sludge to the external environment; during use, the dredging cutter motor 1-1 drives the dredging cutter 1-2 to rotate, so as to stir the sludge inside the tank body, and the crushed sludge is sucked into the sludge discharge pipe 1-3 by the sludge suction pump 1-5 and discharged from the sludge discharge pipe 1-7 out of the tank body. At the same time, by controlling the up and down and left and right swinging of the left and right adjustment frame, the dredging cutter and the sludge suction pipe can be controlled to swing up and down and left and right.

[0028] In this embodiment, a sludge suction pump mounting seat 1-4 is provided on the left side inside the main frame 4; the sludge suction pump 1-5 is arranged on the sludge suction pump mounting seat 1-4.

[0029] In this embodiment, the stirring and dredging system 1 further includes a flow meter 1-6 for detecting the flow rate; the outlet of the sludge suction pump 1-5 is connected to the sludge discharge pipe 1-7 through the flow meter 1-6.

[0030] In this embodiment, the number of the dredging cutter motors 1-1 is two; the two dredging cutter motors 1-1 are symmetrically arranged left and right at the front end of the left and right adjustment frame 3-2; one end of the sludge suction pipe 1-3 away from the sludge suction pump 1-5 is arranged between the two dredging cutter motors 1-1, which is convenient for sucking sludge.

[0031] In this embodiment, the high-pressure scouring and silt removal system 2 includes a high-pressure flushing water pipe 2-1, a high-pressure water delivery pipe 2-2, a high-pressure flushing water pump 2-4, and a high-pressure water supply pipe 2-5; the high-pressure flushing water pipe 2-1 is arranged at the front end of the left and right adjusting frame 3-2; the high-pressure flushing water pump 2-4 is arranged inside the main frame 4; one end of the high-pressure water delivery pipe 2-2 is connected to the outlet of the high-pressure flushing water pump 2-4, and the other end of the high-pressure water delivery pipe 2-2 is connected to the high-pressure flushing water pipe 2-1; the high-pressure water supply pipe 2-5 is connected to the inlet of the high-pressure flushing water pump 2-4, and the external environment provides water source for the high-pressure scouring and silt removal system 2 through the high-pressure water supply pipe 2-5; the high-pressure flushing water pipe 2-1 is provided with branch pipes; the other end of the branch pipe is connected to the left and right adjusting frame 3-2 and corresponds to the dredging cutter 1-2; during use, the high-pressure flushing water pump 2-4 transports the external water through the high-pressure water supply pipe 2-5 to the high-pressure water delivery pipe 2-2, and sprays it out through the high-pressure flushing water pipe 2-1 and the branch pipes to impact the sludge in the tank, and cooperate with the dredging cutter 1-2, which can scour and break the sludge more efficiently, so as to improve the silt removal efficiency. At the same time, by controlling the up-and-down and left-and-right swing of the left and right adjusting frame 3-2, the up-and-down and left-and-right swing of the high-pressure flushing water pipe 2-1 can be controlled.

[0032] In this embodiment, a high-pressure flushing water pump mounting seat 2-3 is provided on the right side inside the main frame 4; the high-pressure flushing water pump 2-4 is arranged on the high-pressure flushing water pump mounting seat 2-3.

[0033] In this embodiment, the number of branch pipes is two; the two branch pipes are symmetrically arranged on the left and right sides of the high-pressure flushing water pipe 2-1; the branch pipes and the dredging cutter 1-2 are arranged in one-to-one correspondence.

[0034] In this embodiment, baffles are provided on the rear side and the left and right sides of the dredging cutter 1-2; the end of the branch pipe away from the high-pressure flushing water pipe 2-1 is fixedly connected to the baffle on the rear side of the corresponding dredging cutter 1-2, which is convenient for scouring the dredging cutter 1-2.

[0035] In this embodiment, when dredging is required, the dredging cutter motor 1-1 starts, transmitting power to the dredging cutter 1-2. The dredging cutter 1-2 rotates to break up the sludge at the bottom of the tank. At the same time, the high-pressure flush water pump 2-4 starts, pumping water from an external water source, delivering it through the high-pressure water delivery pipe 2-2 to the high-pressure flush water pipe 2-1 and spraying it out through the water outlet of the branch pipe to form a high-speed water flow. Cooperating with the dredging cutter 1-2, it can more efficiently wash and break up the sludge. The broken sludge is sucked up by the sludge suction pump 1-5 through the sludge suction pipe 1-3 and discharged to the external environment through the sludge discharge pipe 1-7. While dredging and discharging sludge, the cutter suction head adjustment mechanism 3 works. Through the telescopic movement of the driving end of the left and right adjustment electric cylinder 3-3, the left and right adjustment frame 3-2 swings left and right. The left and right adjustment frame 3-2 drives the dredging cutter 1-2, the sludge suction pipe 1-3, and the high-pressure flush water pipe 2-1 to swing left and right, thereby increasing the dredging area and improving the dredging efficiency. When facing a terrain with a certain inclination angle, through the telescopic movement of the driving end of the up and down adjustment electric cylinder 3-7, the up and down adjustment frame 3-5 is driven to swing up and down. The up and down adjustment frame 3-5 drives the left and right adjustment frame 3-2 to swing up and down for angle adjustment, so as to adapt to a terrain with a certain inclination angle and better complete the dredging task. At the same time, when facing obstacles, by driving the left and right adjustment frame 3-2 to adjust the up and down direction angle through the up and down adjustment frame 3-5, the dredging / washing robot can better cross the obstacles, thereby improving the obstacle-crossing ability of the dredging / washing robot.

[0036] In this embodiment, the crawler traveling mechanism 6 includes a small support tensioning wheel 6-1, a large support tensioning wheel 6-4, a tensioning adjustment assembly for adjusting the position of the large support tensioning wheel 6-4, a main wheel frame 6-5, a support wheel 6-6, a driving wheel 6-11, a crawler 6-12, a speed reducer 6-13, and an underwater crawler motor 6-15. The main wheel frame 6-5 is arranged on the main frame 4. The small support tensioning wheel 6-1 is arranged at the upper middle part of the main wheel frame 6-5. The tensioning adjustment assembly is arranged at the upper front side of the main wheel frame 6-5. The large support tensioning wheel 6-4 is arranged at the front end of the tensioning adjustment assembly. One support wheel 6-6 is arranged on each of the front and rear sides at the lower end of the main wheel frame 6-5. The driving wheel 6-11 is arranged at the upper rear side of the main wheel frame 6-5. The crawler 6-12 is sleeved outside the small support tensioning wheel 6-1, the large support tensioning wheel 6-4, the support wheel 6-6, and the driving wheel 6-11. The speed reducer 6-13 is arranged at the upper rear side of the main wheel frame 6-5. The output end of the underwater crawler motor 6-15 is connected to the input end of the speed reducer 6-13. The output end of the speed reducer 6-13 is connected to the driving wheel 6-11.

[0037] In this embodiment, the tension adjustment assembly includes a tension rod conduit 6-2, a tension wheel guide rod 6-3, a tension adjustment nut 6-9, and a tension adjustment bolt 6-10; the tension rod conduit 6-2 is arranged at the upper front side of the main body wheel frame 6-5; the tension wheel guide rod 6-3 is slidably arranged inside the tension rod conduit 6-2; a large support tension wheel 6-4 is arranged at the front end of the tension wheel guide rod 6-3; the tension adjustment nut 6-9 is fixedly connected to the rear end of the tension rod conduit 6-2; the tension adjustment bolt 6-10 is threadedly connected with the tension adjustment nut 6-9 to form a screw pair; the front end of the tension adjustment bolt 6-10 abuts against the rear end of the tension wheel guide rod 6-3; during use, by rotating the tension adjustment bolt 6-10, the length of the tension wheel guide rod 6-3 extending out of the tension rod conduit 6-2 can be adjusted, thereby adjusting the tightness of the crawler belt 6-12.

[0038] In this embodiment, the crawler traveling mechanism 6 further includes a movable support triangular wheel frame 6-8; the movable support triangular wheel frame 6-8 is hinged to the lower middle part of the main body wheel frame 6-5; two support wheels 6-6 are arranged at the lower end of the movable support triangular wheel frame 6-8; the two support wheels 6-6 are symmetrically arranged front and back; by arranging the movable support triangular wheel frame 6-8 with the support wheels 6-6, the adaptability to uneven terrain inside the tank can be improved.

[0039] In this embodiment, a reducer mounting plate 6-14 is arranged at the upper rear side of the main body wheel frame 6-5; the driving wheel 6-11 is arranged outside the reducer mounting plate 6-14; the reducer 6-13 is arranged inside the reducer mounting plate 6-14.

[0040] In this embodiment, the main body wheel frame 6-5 is connected to the main body frame 4 through a wheel frame connecting plate 6-7.

[0041] In this embodiment, the dredging / cleaning robot of the present invention further includes an electric control box 5; the electric control box 5 is arranged at the upper end of the main body frame 4; a main control device is arranged inside the electric control box 5 for transmitting control information to the crawler traveling mechanism 6, the stirring and dredging system 1, the high-pressure dredging system 2, and the suction head adjustment mechanism 3 and performing control.

[0042] Using the above-mentioned dredging / cleaning robot to perform dredging operations on a large tank, the specific dredging steps are as follows: Step 1: Control the dredging / cleaning robot to enter the inside of the tank from the tank entrance, set the traveling speed of the dredging / cleaning robot to 0.1 m / s, the rotation speed of the mud suction pump 1-5 to 500 rpm, and the working mode of the dredging / cleaning robot can be set to manual remote control or work according to a pre-set trajectory. After the preparation work is completed, the dredging work can be started.

[0043] Step 2: Control the start of the dredging cutter motor 1-1. The dredging cutter motor 1-1 drives the dredging cutter 1-2 to rotate to stir and break up the sludge. At the same time, ensure that there is water in the tank and it exceeds the pump body, then start the sludge suction pump 1-5, the high-pressure flushing water pump 2-4, and the left and right adjusting electric cylinders 3-3. Drain the shredded sludge out of the tank through the sludge suction pump 1-5, provide high-pressure water flow through the high-pressure flushing water pump 2-4, use the high-pressure flushing water pipe and the branch pipes to scour the sludge, drive the left and right adjusting frame 3-2 to swing left and right through the left and right adjusting electric cylinders 3-3, and manually remotely control the dredging / washing robot to move forward or control the dredging / washing robot to move forward along the pre-set trajectory to start the dredging operation on the sludge in the tank.

[0044] Step 3: After the dredging operation is completed, start the high-pressure flushing water pump 2-4 alone, and manually remotely control the dredging / washing robot to move forward or control the dredging / washing robot to move forward along the pre-set trajectory, and use the high-pressure water flow provided by the high-pressure flushing water pump 2-4 to clean the tank bottom and the inner surface of the tank.

[0045] Step 4: After the cleaning operation is completed, control the dredging / washing robot to walk out of the tank, and one operation is completed.

[0046] As mentioned above, it is only a preferred embodiment of the present invention, and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A crawler-type autonomous dredging / cleaning robot for tank environments, characterized in that: include: Main frame; Two crawler walking mechanisms; the two crawler walking mechanisms are symmetrically arranged on the left and right sides of the main frame; A stirring and desilting system; the stirring and desilting system is arranged inside the main frame and is used for stirring and desilting operations; High-pressure flushing and silting system; the high-pressure flushing and silting system is arranged inside the main frame and is used for high-pressure flushing and silting operations; The suction head adjustment mechanism is arranged at the front end of the main frame; the suction head adjustment mechanism cooperates with the stirring silt removal system and the high-pressure silt flushing system to adjust the stirring silt removal and high-pressure silt flushing operation range and angle.

2. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 1, characterized in that: The suction head adjustment mechanism includes a left and right adjustment frame, a left and right adjustment electric cylinder, an up and down adjustment frame and an up and down adjustment electric cylinder; the up and down adjustment frame is hinged to the front end of the main frame; the fixed end of the up and down adjustment electric cylinder is rotatably connected to the upper end of the front side of the main frame; the driving end of the up and down adjustment electric cylinder is hinged to the upper end of the up and down adjustment frame; the left and right adjustment frame is hinged to the front end of the up and down adjustment frame; the fixed end of the left and right adjustment electric cylinder is rotatably connected to the up and down adjustment frame; the driving end of the left and right adjustment electric cylinder is hinged to the left and right adjustment frame.

3. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 2, characterized in that: The stirring dredging system includes a dredging auger motor, a dredging auger, a silt suction pipe, a dredge suction pump and a silt discharge pipe; the dredge auger motor is arranged at the front end of the left and right adjustment frames; the dredge auger is arranged at the output end of the dredge auger motor; the dredge suction pump is arranged inside the main frame; one end of the silt suction pipe is connected to the inlet of the dredge suction pump, and the other end of the silt suction pipe is connected to the front end of the left and right adjustment frames; the silt discharge pipe is connected to the outlet of the dredge suction pump.

4. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 3, characterized in that: The stirring and desilting system also includes a flow meter; the outlet of the sludge suction pump is connected to the silt discharge pipe through the flow meter.

5. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 3, characterized in that: The number of the dredging auger motors is two; the two dredging auger motors are symmetrically arranged at the front ends of the left and right adjustment frames; the end of the dredging suction pipe away from the dredging pump is arranged between the two dredging auger motors.

6. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 3, characterized in that: The high-pressure silt flushing system includes a high-pressure water flushing pipe, a high-pressure water delivery pipe, a high-pressure water flushing pump and a high-pressure water delivery pipe; the high-pressure water flushing pipe is arranged at the front end of the left and right adjustment frames; the high-pressure water flushing pump is arranged inside the main frame; one end of the high-pressure water delivery pipe is connected to the outlet of the high-pressure water flushing pump, and the other end of the high-pressure water delivery pipe is connected to the high-pressure water flushing pipe; the high-pressure water delivery pipe is connected to the inlet of the high-pressure water flushing pump; a branch pipe is provided on the high-pressure water flushing pipe; the other end of the branch pipe is connected to the left and right adjustment frames and corresponds to the dredging auger.

7. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 1, characterized in that: The crawler walking mechanism includes a small supporting tensioner wheel, a large supporting tensioner wheel, a tensioning adjustment component for adjusting the position of the large supporting tensioner wheel, a main wheel frame, a supporting wheel, a driving wheel, a crawler track, a reducer and an underwater crawler track motor; the main wheel frame is arranged on the main frame; the small supporting tensioner wheel is arranged at the middle upper end of the main wheel frame; the tensioning adjustment component is arranged at the front upper end of the main wheel frame; the large supporting tensioner wheel is arranged at the front end of the tensioning adjustment component; the supporting wheels are arranged on the front and rear sides of the lower end of the main wheel frame; the driving wheel is arranged at the rear upper end of the main wheel frame; the crawler track is sleeved on the outside of the small supporting tensioner wheel, the large supporting tensioner wheel, the supporting wheel and the driving wheel; the reducer is arranged at the rear upper end of the main wheel frame; the output end of the underwater crawler track motor is connected to the input end of the reducer; the output end of the reducer is connected to the driving wheel.

8. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 7, characterized in that: The tensioning adjustment assembly includes a tensioning rod guide tube, a tensioning wheel guide rod, a tensioning adjustment nut and a tensioning adjustment bolt; the tensioning rod guide tube is arranged at the upper end of the front side of the main wheel frame; the tensioning wheel guide rod is slidably arranged inside the tensioning rod guide tube; the large supporting tensioning wheel is arranged at the front end of the tensioning wheel guide rod; the tensioning adjustment nut is fixedly connected to the rear end of the tensioning rod guide tube; the tensioning adjustment bolt is threadedly connected to the tensioning adjustment nut; the front end of the tensioning adjustment bolt abuts against the rear end of the tensioning wheel guide rod.

9. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 8, characterized in that: The crawler walking mechanism also includes a movable supporting triangular wheel frame; the movable supporting triangular wheel frame is hinged to the lower end of the middle part of the main wheel frame; and two supporting wheels are arranged at the lower end of the movable supporting triangular wheel frame.

10. The crawler-type autonomous dredging / cleaning robot for tank environments according to claim 8, characterized in that: It also includes an electric control box; the electric control box is arranged at the upper end of the main frame; a main control device is arranged in the electric control box, which is used to transmit control information to the crawler walking mechanism, the stirring and silting system, the high-pressure silting system and the suction head adjustment mechanism.

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