Tank cleaning device

Abstract

The invention discloses a tank cleaning device which comprises a supporting mechanism, a height adjusting mechanism, a dirt suction mechanism and a guide mechanism. The fixed end of the height adjusting mechanism is fixed on the bracket; the dirt suction mechanism comprises a telescopic hard pipe, a hose and a suction pump, one end of the telescopic hard pipe is fixed to the movable end of the height adjusting mechanism, the other end of the telescopic hard pipe is connected with one end of the hose, one end of the hose is used for entering the tank body through an upper opening of the tank body, and an inlet of the suction pump is communicated with one end of the telescopic hard pipe; the guide mechanism is connected with the hose and used for adjusting the bending degree and the bending direction of the hose. The bending degree and direction of the hose are adjusted through the guide mechanism, mud and sediments deposited at the bottom of the tank body can be effectively cleaned, and the cleaning efficiency is improved. And each position in the tank can be flexibly reached, and the problem of cleaning blind areas caused by insufficient flexibility of a traditional movable tank cleaning robot is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial container cleaning, and particularly to a tank cleaning device. Background Art

[0002] In the daily operations of many industries such as petrochemical, environmental protection, and engineering construction, containers filled with mud, sewage, or other semi-fluid materials need to be cleaned periodically, which is a key link to ensure the smooth production process, maintain environmental protection standards, and ensure the safe operation of equipment. However, there are many problems to be solved urgently in the current technologies for tank cleaning.

[0003] Manual cleaning, as a relatively traditional method, requires operators to carry cleaning equipment and enter the interior of the tank in person to carry out operations such as scraping, flushing, and pumping. However, this method has significant drawbacks. Operators not only have to bear high-intensity physical labor, but also the tank interior environment is complex, often accompanied by toxic and harmful gases and various contaminants, which poses a great threat to the personal safety of the operators. Any carelessness may lead to serious safety accidents.

[0004] Fixed cleaning devices clean the inner wall of the tank by installing fixed cleaning nozzles inside the tank and using high-pressure water flow or other cleaning media. Although it realizes automated cleaning to a certain extent and reduces manual intervention, the efficiency of this device in cleaning the mud and sediment deposited at the bottom is extremely low. In addition, when facing tanks with complex shapes or structures, its limitations become more prominent, and it is difficult to ensure a full-range and dead-angle-free cleaning effect.

[0005] Some traditional mobile tank cleaning robots also have obvious defects. These mobile devices can only move limitedly at the bottom of the tank or on specific tracks, with extremely low flexibility, unable to cover all corners of the tank, resulting in many blind spots in the cleaning work and being difficult to meet the actual cleaning requirements.

[0006] In view of the above problems existing in the prior art during the tank cleaning process, it is extremely urgent to develop a new type of tank cleaning device that can effectively solve problems such as high labor intensity, high safety risks, low cleaning efficiency, and narrow application range. Summary of the Invention

[0007] The purpose of the present invention is to overcome the above technical deficiencies and propose a tank cleaning device to solve problems such as high labor intensity, high safety risks, low cleaning efficiency, and narrow application range existing in the prior art during the tank cleaning process.

[0008] To achieve the above technical purpose, the present invention adopts the following technical solutions:

[0009] The present invention provides a tank cleaning device, including:

[0010] A support mechanism, the support mechanism includes a bracket, and the bracket is used to be placed on the upper end surface of the tank to be cleaned;

[0011] A height adjustment mechanism, the fixed end of the height adjustment mechanism is fixed to the bracket;

[0012] A sewage suction mechanism, the sewage suction mechanism includes a telescopic rigid pipe, a flexible pipe and a suction pump. One end of the telescopic rigid pipe is fixed to the movable end of the height adjustment mechanism, the other end of the telescopic rigid pipe is connected to one end of the flexible pipe, one end of the flexible pipe is used to enter the tank through the upper opening of the tank, and the inlet of the suction pump is communicated with one end of the telescopic rigid pipe; and,

[0013] A guiding mechanism, the guiding mechanism is connected to the flexible pipe and is used to adjust the bending degree and bending direction of the flexible pipe.

[0014] In some embodiments, the height adjustment mechanism includes a guiding shaft, a lead screw, a lifting plate, a nut and a rotation driving assembly. The two ends of the guiding shaft are respectively fixed to the two ends of the bracket. The two ends of the lead screw are respectively rotatably arranged at the two ends of the bracket and are parallel to the guiding shaft. The lifting plate is provided with a guiding hole for cooperating with the guiding shaft and a mounting hole for cooperating with the lead screw. One end of the telescopic rigid pipe is fixed to the lifting plate. The guiding shaft is slidably arranged in the guiding hole. The nut is threadedly sleeved on the lead screw, and the nut is fixed in the mounting hole. The rotation driving assembly is connected to the lead screw and is used to drive the lead screw to rotate.

[0015] In some embodiments, two of the mounting holes are respectively opened at the two ends of the lifting plate. The number of the nuts and the lead screws is two. The two nuts are respectively fixed in the two mounting holes and are respectively threadedly rotatably connected to the two lead screws;

[0016] The rotation driving assembly includes a rotation driving motor, a first right-angle commutator, two second right-angle commutators and two third right-angle commutators. The output end of the rotation driving motor is connected to the input end of the first right-angle commutator. The first right-angle commutator has two coaxial output ends. The input ends of the two second right-angle commutators are respectively connected to the two output ends of the first right-angle commutator. The input ends of the two third right-angle commutators are respectively connected to the output ends of the two second right-angle commutators. The output ends of the two third right-angle commutators are respectively coaxially fixed to the two lead screws.

[0017] In some embodiments, the telescopic rigid tube includes a fixed tube and a movable tube. One end of the fixed tube is fixed to the lifting plate and is in communication with the inlet of the suction pump. One end of the movable tube is hermetically and slidably disposed at the other end of the fixed tube, and the other end of the movable tube is connected to one end of the flexible tube.

[0018] In some embodiments, the sewage suction mechanism further includes a discharge pipe. The discharge pipe is vertically fixed to the fixed tube. One end of the discharge pipe is in communication with the fixed tube, and the other end of the discharge pipe is in communication with the inlet of the suction pump.

[0019] In some embodiments, the sewage suction mechanism further includes a telescopic driving member. The fixed end of the telescopic driving member is fixed to the fixed tube, and the movable end of the telescopic driving member is fixed to the movable tube.

[0020] In some embodiments, the guiding mechanism includes a plurality of sleeves sequentially sleeved on the flexible tube. Two first through holes and two second through holes are formed in each sleeve. A connecting ring is disposed between every two adjacent sleeves. The connecting ring is sleeved on the flexible tube. Two ends of the connecting ring are respectively hinged to the adjacent two sleeves through a first hinge and a second hinge, and the first hinge and the second hinge are perpendicular to each other. The line connecting the two first through holes is perpendicular to the first hinge, and the line connecting the two second through holes is perpendicular to the second hinge.

[0021] The guiding mechanism further includes two first winches, two second winches, two first pulling ropes and two second pulling ropes. The two first winches and the two second winches are both installed on the bracket. One ends of the two first pulling ropes are respectively wound around the two first winches. The other ends of the two first pulling ropes respectively pass through the two first through holes in each sleeve and are fixed to the end sleeve. One ends of the two second pulling ropes are respectively wound around the two second winches. The other ends of the two second pulling ropes respectively pass through the two second through holes in each sleeve and are fixed to the end sleeve.

[0022] In some embodiments, the guiding mechanism further includes two first adjustment motors and two second adjustment motors. The two first adjustment motors are respectively connected to the two first winches and are used to drive the two first winches to rotate. The two second adjustment motors are respectively connected to the two second winches and are used to drive the two second winches to rotate.

[0023] In some embodiments, the supporting mechanism further includes a plurality of traveling wheels. The traveling wheels are installed at the lower end of the bracket.

[0024] In some embodiments, the traveling wheels include a shaft rod, a triangular plate, three wheel bodies and a crawler. The shaft rod is rotatably arranged at the lower end of the bracket. The center of the triangular plate is fixed to the shaft rod. The three wheel bodies are respectively rotatably arranged at the three corners of the triangular plate. The crawler is wound around the periphery of the three wheel bodies.

[0025] Compared with the prior art, the beneficial effects of the tank cleaning device provided by the present invention are as follows: Compared with the fixed cleaning device, this tank cleaning device can effectively clean the mud and sediment accumulated at the bottom of the tank by adjusting the bending degree and direction of the hose through the guiding mechanism, improving the cleaning efficiency. Moreover, it can flexibly reach various positions inside the tank, avoiding the problem of cleaning blind spots caused by the insufficient flexibility of traditional mobile tank cleaning robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a reference diagram of the usage state of the tank cleaning device provided by an embodiment of the present invention;

[0027] Figure 2 is Figure 1 the three-dimensional structure schematic diagram of the tank cleaning device in

[0028] Figure 3 is Figure 1 the three-dimensional structure schematic diagram of the height adjusting mechanism and the guiding mechanism in

[0029] Figure 4 is Figure 1 the three-dimensional structure schematic diagram of the height adjusting mechanism in

[0030] Figure 5 is Figure 1 the partial structure schematic diagram of the guiding mechanism in

[0031] Figure 6 is Figure 1 the three-dimensional structure schematic diagram of one of the traveling wheels in

[0032] Description of reference numerals: 1 - support mechanism, 11 - bracket, 12 - traveling wheel, 121 - shaft rod, 122 - triangular plate, 123 - wheel body, 124 - crawler belt, 2 - height adjustment mechanism, 21 - guide shaft, 22 - lead screw, 23 - lifting plate, 24 - nut, 25 - rotation drive assembly, 251 - rotation drive motor, 252 - first right-angle commutator, 253 - second right-angle commutator, 254 - third right-angle commutator, 3 - sewage suction mechanism, 31 - telescopic rigid pipe, 311 - fixed pipe, 312 - movable pipe, 32 - flexible pipe, 33 - discharge pipe, 34 - telescopic drive member, 4 - guiding mechanism, 41 - sleeve, 42 - connecting ring, 43 - first hinge, 44 - second hinge, 45 - first winch, 451 - first adjustment motor, 46 - second winch, 461 - second adjustment motor, 47 - first pulling rope, 48 - second pulling rope, 5 - tank body, 51 - opening. Detailed implementation manners

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] Please refer to Figures 1-6 , Figure 1 which is a schematic structural diagram of a tank cleaning device in an embodiment of the present invention. The tank cleaning device includes a support mechanism 1, a height adjustment mechanism 2, a sewage suction mechanism 3 and a guiding mechanism 4.

[0035] The support mechanism 1 includes a bracket 11, and the bracket 11 is used to be placed on the upper end surface of the tank body 5 to be cleaned.

[0036] The fixed end of the height adjustment mechanism 2 is fixed to the bracket 11.

[0037] The sewage suction mechanism 3 includes a telescopic rigid pipe 31, a flexible pipe 32 and a suction pump. One end of the telescopic rigid pipe 31 is fixed to the movable end of the height adjustment mechanism 2, the other end of the telescopic rigid pipe 31 is connected to one end of the flexible pipe 32, one end of the flexible pipe 32 is used to enter the tank body 5 through the upper opening 51 of the tank body 5, and the inlet of the suction pump is communicated with one end of the telescopic rigid pipe 31.

[0038] The guiding mechanism 4 is connected to the flexible pipe 32 and is used to adjust the bending degree and bending direction of the flexible pipe 32.

[0039] During use, first place the bracket 11 of the support mechanism 1 on the upper end face of the tank body 5 to be cleaned, providing a stable support foundation for the entire tank cleaning device and ensuring that the device does not shake or shift during operation. The fixed end of the height adjustment mechanism 2 is fixed on the bracket 11, and the height position of the telescopic rigid pipe 31 is adjusted through the height adjustment mechanism 2. The movable end of the height adjustment mechanism 2 drives the telescopic rigid pipe 31 and the hose 32 to move to adapt to the height of different tank bodies 5 and the cleaning requirements at different positions inside the tank. One end of the telescopic rigid pipe 31 is fixed to the movable end of the height adjustment mechanism 2, and the other end is connected to the hose 32. The hose 32 enters the tank body 5 through the upper opening 51 of the tank body 5. The inlet of the suction pump is communicated with the telescopic rigid pipe 31 to provide power for sewage suction. The guiding mechanism 4 is connected to the hose 32, and the operator adjusts the bending degree and direction of the hose 32 through the guiding mechanism 4. In this way, the end of the hose 32 can accurately reach various positions inside the tank body 5, including the mud and sediment deposited at the bottom. Start the suction pump. Under the action of the suction pump, the mud, sewage or other semi-fluid materials in the tank body 5 are sucked through the hose 32, discharged from the tank body 5 after passing through the telescopic rigid pipe 31, and the sewage suction and cleaning work is completed.

[0040] The technical effects include:

[0041] (1) Reducing labor intensity and safety risks: This tank cleaning device does not require operators to enter the interior of the tank body 5 for operations such as scraping, flushing, and pumping, avoiding high-intensity physical labor for operators and also avoiding the threat to the personal safety of operators from toxic and harmful gases and various contaminants in the tank, greatly reducing the possibility of safety accidents.

[0042] (2) Improving cleaning efficiency: Compared with fixed cleaning devices, this tank cleaning device can effectively clean the mud and sediment deposited at the bottom of the tank body 5 by adjusting the bending degree and direction of the hose 32 through the guiding mechanism 4, improving the cleaning efficiency. Moreover, it can flexibly reach various positions inside the tank, avoiding the cleaning blind spot problem caused by the insufficient flexibility of traditional mobile tank cleaning robots.

[0043] (3) Expanding the scope of application: For tank bodies 5 with complex shapes or structures, the hose 32 of this device can be bent and turned under the action of the guiding mechanism 4, better adapting to different-shaped and -structured tank bodies 5, ensuring a full-range and dead-angle-free cleaning effect, and expanding the scope of application of the tank cleaning device.

[0044] In one of the embodiments, please refer to Figures 1-4, the height adjustment mechanism 2 includes a guide shaft 21, a lead screw 22, a lifting plate 23, a nut 24 and a rotation driving assembly 25. Both ends of the guide shaft 21 are respectively fixed to both ends of the bracket 11. Both ends of the lead screw 22 are respectively rotatably provided at both ends of the bracket 11 and are parallel to the guide shaft 21. The lifting plate 23 is provided with a guide hole matching the guide shaft 21 and a mounting hole matching the lead screw 22. One end of the telescopic rigid tube 31 is fixed to the lifting plate 23. The guide shaft 21 is slidably arranged in the guide hole. The nut 24 is threadedly rotatably sleeved on the lead screw 22, and the nut 24 is fixed in the mounting hole. The rotation driving assembly 25 is connected to the lead screw 22 and is used to drive the lead screw 22 to rotate.

[0045] In this embodiment, when it is necessary to adjust the height of the telescopic rigid tube 31 in the sewage suction mechanism, the rotation driving assembly 25 is started. The rotation driving motor 251 in the rotation driving assembly 25 starts to work, and its output end transmits power to the first right-angle commutator 252. The first right-angle commutator 252 commutes the power and distributes the power to two coaxial output ends. The input ends of the two second right-angle commutators 253 respectively receive the power from the two output ends of the first right-angle commutator 252, and commutate the power again to transmit the power to the two third right-angle commutators 254. The output ends of the two third right-angle commutators 254 are coaxially fixedly connected to the two lead screws 22, thereby driving the lead screws 22 to rotate. Since the nut 24 is threadedly rotatably sleeved on the lead screw 22 and is fixed in the mounting hole of the lifting plate 23, when the lead screw 22 rotates, the nut 24 will linearly move on the lead screw 22 along with the rotation of the lead screw 22. The linear movement of the nut 24 drives the lifting plate 23 to move up and down along the axial direction of the lead screw 22. At the same time, the guide shaft 21 slides in the guide hole of the lifting plate 23 to play a guiding role and ensure the stability and linearity of the up and down movement of the lifting plate 23. Because one end of the telescopic rigid tube 31 is fixed to the lifting plate 23, the up and down movement of the lifting plate 23 realizes the adjustment of the height of the telescopic rigid tube 31, and further drives components such as the flexible tube 32 connected to the telescopic rigid tube 31 to change the height position to adapt to the cleaning requirements of tanks at different heights.

[0046] In one of the embodiments, please refer to Figures 1-4, two of the aforementioned mounting holes are respectively formed at both ends of the lifting plate 23. The number of the nuts 24 and the lead screws 22 is two each. The two nuts 24 are respectively fixed in the two mounting holes and are in threaded rotational connection with the two lead screws 22 respectively. The rotation driving assembly 25 includes a rotation driving motor 251, a first right-angle commutator 252, two second right-angle commutators 253, and two third right-angle commutators 254. The output end of the rotation driving motor 251 is connected to the input end of the first right-angle commutator 252. The first right-angle commutator 252 has two coaxial output ends. The input ends of the two second right-angle commutators 253 are respectively connected to the two output ends of the first right-angle commutator 252. The input ends of the two third right-angle commutators 254 are respectively connected to the output ends of the two second right-angle commutators 253. The output ends of the two third right-angle commutators 254 are respectively coaxially fixedly connected to the two lead screws 22.

[0047] In this embodiment, two mounting holes are respectively arranged at both ends of the lifting plate, and two nuts and lead screws are correspondingly provided. This symmetric structural design enables the lifting plate to be more evenly stressed during the up and down movement. The two lead screws jointly support the lifting plate, avoiding the inclination or instability caused by uneven stress that may occur in a single lead screw, thereby improving the stability of the entire height adjustment mechanism, ensuring that the sewage suction mechanism can remain stable at different height positions, and facilitating the smooth progress of the tank cleaning work.

[0048] In one of the embodiments, please refer to Figures 1-4 , the telescopic rigid pipe 31 includes a fixed pipe 311 and a movable pipe 312. One end of the fixed pipe 311 is fixed to the lifting plate 23 and is communicated with the inlet of the suction pump. One end of the movable pipe 312 is hermetically slidably arranged at the other end of the fixed pipe 311. The other end of the movable pipe 312 is connected to one end of the flexible pipe 32.

[0049] In this embodiment, the telescopic rigid pipe 31 is composed of a fixed pipe 311 and a movable pipe 312. The movable pipe 312 can hermetically slide in the fixed pipe 311, enabling the sewage suction mechanism to flexibly adjust the length according to the actual situation inside the tank. When the internal space of the tank is large, or the position to be cleaned is deep, or the horizontal distance is large, the movable pipe 312 can be extended from the fixed pipe 311 to increase the overall length of the telescopic rigid pipe 31, so that the flexible pipe 32 can reach a farther position for cleaning work; conversely, when it is not necessary to clean a deep position, the movable pipe 312 can be retracted into the fixed pipe 311 to shorten the length of the telescopic rigid pipe 31, facilitating operation and storage. This flexible length adjustment function improves the adaptability of the tank cleaning device to tanks of different sizes and structures and expands the cleaning range of the tank cleaning device.

[0050] In one of the embodiments, please refer toFigures 1-4 , the sewage suction mechanism 3 further includes a discharge pipe 33. The discharge pipe 33 is vertically fixed to the fixed pipe 311. One end of the discharge pipe 33 is communicated with the fixed pipe 311, and the other end of the discharge pipe 33 is communicated with the inlet of the suction pump. In this embodiment, the discharge pipe 33 is vertically fixed to the fixed pipe 311 and both ends are respectively communicated with the fixed pipe 311 and the inlet of the suction pump. Such a design optimizes the fluid path during the sewage suction process. The semi-fluid materials such as mud and sewage sucked from the inside of the tank through the hose 32 and the telescopic rigid pipe 31 can directly enter the discharge pipe 33 through the fixed pipe 311 and then flow to the inlet of the suction pump, making the transmission of the materials smoother, reducing the resistance and energy loss during the transmission process, and improving the sewage suction efficiency.

[0051] In one embodiment, please refer to Figures 1-4 , the sewage suction mechanism 3 further includes a telescopic driving member 34. The fixed end of the telescopic driving member 34 is fixed to the fixed pipe 311, and the movable end of the telescopic driving member 34 is fixed to the movable pipe 312. In this embodiment, the setting of the telescopic driving member 34 enables the telescopic movement of the movable pipe 312 relative to the fixed pipe 311 to be automatically controlled. There is no need to manually adjust the length of the telescopic rigid pipe 31. By controlling the operation of the telescopic driving member 34, the extended or retracted length of the movable pipe 312 can be accurately adjusted according to the actual needs of the tank cleaning operation, improving the operation convenience and work efficiency, and reducing the labor intensity of the operators.

[0052] In one embodiment, please refer to 1- Figure 5, the guiding mechanism 4 includes a plurality of sleeves 41 successively sleeved on the hose 32. Two first perforations and two second perforations are formed on each of the sleeves 41. A connecting ring 42 is arranged between every two adjacent sleeves 41. The connecting ring 42 is sleeved on the hose 32. Two ends of the connecting ring 42 are respectively hinged to the two adjacent sleeves 41 through a first hinge 43 and a second hinge 44, and the first hinge 43 and the second hinge 44 are perpendicular to each other. The connection line of the two first perforations is perpendicular to the first hinge 43, and the connection line of the two second perforations is perpendicular to the second hinge 44. The guiding mechanism 4 further includes two first winches 45, two second winches 46, two first pulling ropes 47 and two second pulling ropes 48. The two first winches 45 and the two second winches 46 are both installed on the bracket 11. One ends of the two first pulling ropes 47 are respectively wound around the two first winches 45. The other ends of the two first pulling ropes 47 respectively pass through the two first perforations on each of the sleeves 41 and are fixedly connected to the sleeve 41 at the end. One ends of the two second pulling ropes 48 are respectively wound around the two second winches 46. The other ends of the two second pulling ropes 48 respectively pass through the two second perforations on each of the sleeves 41 and are fixedly connected to the sleeve 41 at the end.

[0053] In this embodiment, when it is necessary to adjust the bending direction of the hose 32, start the first winch 45 or the second winch 46. For example, start one of the first winches 45. The first winch 45 rotates to wind up the first pulling rope 47, so that the first pulling rope 47 on this side is tightened. Since the first pulling rope 47 passes through the first perforations on each of the sleeves 41 in sequence and is fixedly connected to the sleeve 41 at the end, the tightened first pulling rope 47 will pull the sleeve 41, causing the adjacent sleeves 41 to rotate relative to each other through the first hinge 43, thereby driving the hose 32 to bend in the direction related to the first hinge 43. Similarly, starting the second winch 46 to wind up the second pulling rope 48 can cause the hose 32 to bend in the direction related to the second hinge 44. By controlling the rotation of different winches and the number of turns of rotation, precise adjustment of the bending degree and bending direction of the hose 32 in different directions can be achieved. After the bending of the hose 32 is adjusted to the appropriate position, the sewage suction mechanism starts to work, sucking and discharging the mud, sewage, etc. inside the tank body through the hose 32. During the tank cleaning process, if it is necessary to change the position of the hose 32 to clean different areas, the bending state of the hose 32 can be adjusted again by adjusting the first winch 45 and the second winch 46 to make it reach the position to be cleaned.

[0054] The guiding mechanism 4 can flexibly adjust the bending degree and direction of the hose 32 according to the complex structure inside the tank body and the requirements of different cleaning positions, enabling the hose 32 to reach all corners inside the tank body, solving the problem that traditional tank cleaning devices are difficult to clean complex areas inside the tank body, effectively reducing the cleaning blind spots, and improving the comprehensiveness and thoroughness of tank cleaning.

[0055] In one embodiment, please refer to 1- Figure 5 , the guiding mechanism 4 further includes two first adjustment motors 451 and two second adjustment motors 461. The two first adjustment motors 451 are respectively connected to the two first winches 45 and are used to drive the two first winches 45 to rotate. The two second adjustment motors 461 are respectively connected to the two second winches 46 and are used to drive the two second winches 46 to rotate.

[0056] In one embodiment, please refer to Figure 1 and Figure 6 , the support mechanism 1 further includes a plurality of traveling wheels 12. The traveling wheels 12 are installed at the lower end of the bracket 11, thus facilitating the movement of the device.

[0057] In one embodiment, please refer to Figure 1 and Figure 6 , the traveling wheel 12 includes a shaft rod 121, a triangular plate 122, three wheel bodies 123 and a crawler 124. The shaft rod 121 is rotatably arranged at the lower end of the bracket 11. The center of the triangular plate 122 is fixed to the shaft rod 121. The three wheel bodies 123 are respectively rotatably arranged at the three corners of the triangular plate 122. The crawler 124 is wound around the periphery of the three wheel bodies 123.

[0058] In this embodiment, when the triangular wheel set faces areas with large height differences or large inner wall curvatures, it can assist the crawler to cross obstacles and improve the movement flexibility. The crawler wheel can ensure the grip force in working conditions such as mud, accumulated water or other low adhesion conditions, and cooperate with the triangular wheel set to complete multi-directional movement and positioning. When encountering height-limited, narrow or complex-shaped tank internal channels, the robot body can be flipped or tilted horizontally or vertically in a relatively stable state of the crawler. In this way, the whole machine can readjust its posture in a limited space to continue working or pass through obstacles.

[0059] In addition, the device can also be configured with an inclination sensor, a distance sensor, a camera, etc. as needed to monitor the working environment in real time and transmit the information back to the control end. By data fusion, the control of the robot posture, the bending state of the hose and the cleaning efficiency is improved, realizing remote or automatic operation.

[0060] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A tank cleaning device, characterized in that: include: A supporting mechanism, the supporting mechanism comprising a bracket, the bracket being used to be placed on the upper end surface of the tank to be cleaned; A height adjustment mechanism, wherein a fixed end of the height adjustment mechanism is fixed to the bracket; A sewage suction mechanism, the sewage suction mechanism comprising a telescopic hard tube, a hose and a suction pump, one end of the telescopic hard tube is fixed to the movable end of the height adjustment mechanism, the other end of the telescopic hard tube is connected to one end of the hose, one end of the hose is used to enter the tank body through the upper opening of the tank body, and the inlet of the suction pump is connected to one end of the telescopic hard tube; and A guide mechanism is connected to the hose and is used to adjust the bending degree and bending direction of the hose.

2. The tank cleaning device according to claim 1, characterized in that: The height adjustment mechanism includes a guide shaft, a screw rod, a lifting plate, a nut and a rotation drive assembly, the two ends of the guide shaft are respectively fixed to the two ends of the bracket, the two ends of the screw rod are respectively rotatably arranged at the two ends of the bracket and are parallel to the guide shaft, the lifting plate is provided with a guide hole matched with the guide shaft and a mounting hole matched with the screw rod, one end of the telescopic hard tube is fixed to the lifting plate, the guide shaft is slidably arranged in the guide hole, the nut is threaded and rotatably sleeved on the screw rod, the nut is fixed in the mounting hole, and the rotation drive assembly is connected to the screw rod and is used to drive the screw rod to rotate.

3. The tank cleaning device according to claim 2, characterized in that: Two mounting holes are respectively provided at both ends of the lifting plate, and the number of the nuts and the screw rods are both two. The two nuts are respectively fixed in the two mounting holes and are respectively connected to the two screw rods by threads; The rotation drive assembly includes a rotation drive motor, a first right-angle commutator, two second right-angle commutators and two third right-angle commutators. The output end of the rotation drive motor is connected to the input end of the first right-angle commutator. The first right-angle commutator has two coaxial output ends. The input ends of the two second right-angle commutators are respectively connected to the two output ends of the first right-angle commutator. The input ends of the two third right-angle commutators are respectively connected to the output ends of the two second right-angle commutators. The output ends of the two third right-angle commutators are respectively coaxially fixedly connected to the two lead screws.

4. The tank cleaning device according to claim 2, characterized in that: The telescopic rigid tube includes a fixed tube and a movable tube, one end of the fixed tube is fixed to the lifting plate and communicated with the inlet of the suction pump, one end of the movable tube is sealingly slidably arranged on the other end of the fixed tube, and the other end of the movable tube is connected to one end of the hose.

5. The tank cleaning device according to claim 4, characterized in that: The sewage suction mechanism further comprises a discharge pipe, which is vertically fixed to the fixed pipe, one end of which is communicated with the fixed pipe, and the other end of which is communicated with the inlet of the suction pump.

6. The tank cleaning device according to claim 4, characterized in that: The dirt suction mechanism further comprises a telescopic driving member, a fixed end of the telescopic driving member is fixed to the fixed tube, and a movable end of the telescopic driving member is fixed to the movable tube.

7. The tank cleaning device according to claim 4, characterized in that: The guide mechanism includes a plurality of sleeves which are sequentially sleeved on the hose, each sleeve is provided with two first through-holes and two second through-holes, a connecting ring is provided between each two adjacent sleeves, the connecting ring is sleeved on the hose, two ends of the connecting ring are respectively hinged to two adjacent sleeves through a first hinge and a second hinge, and the first hinge and the second hinge are perpendicular to each other, a line connecting the two first through-holes is perpendicular to the first hinge, and a line connecting the two second through-holes is perpendicular to the second hinge; The guide mechanism also includes two first winches, two second winches, two first pull ropes and two second pull ropes. The two first winches and the two second winches are all installed on the bracket. One ends of the two first pull ropes are respectively wrapped around the two first winches, and the other ends of the two first pull ropes respectively pass through the two first through holes on each of the sleeves in sequence and are fixedly connected to the sleeve at the end. One ends of the two second pull ropes are respectively wrapped around the two second winches, and the other ends of the two second pull ropes respectively pass through the two second through holes on each of the sleeves in sequence and are fixedly connected to the sleeve at the end.

8. The tank cleaning device according to claim 7, characterized in that: The guide mechanism also includes two first adjustment motors and two second adjustment motors. The two first adjustment motors are respectively connected to the two first capstans and are used to drive the two first capstans to rotate. The two second adjustment motors are respectively connected to the two second capstans and are used to drive the two second capstans to rotate.

9. The tank cleaning device according to claim 1, characterized in that: The supporting mechanism also includes a plurality of running wheels, and the running wheels are installed at the lower end of the bracket.

10. The tank cleaning device according to claim 9, characterized in that: The walking wheel includes an axle, a triangular plate, three wheel bodies and a track. The axle is rotatably arranged at the lower end of the bracket, the center of the triangular plate is fixed to the axle, the three wheel bodies are rotatably arranged at the three corners of the triangular plate, and the track is wound around the periphery of the three wheel bodies.

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