Storage tank cleaning anti-explosion robot and storage tank cleaning system

Abstract

The invention relates to the technical field of oil tank cleaning devices, in particular to a storage tank cleaning anti-explosion robot and a storage tank cleaning system. The storage tank cleaning anti-explosion robot comprises a movable chassis, a walking mechanism, a cleaning spray head, a push shovel mechanism and a lifting oil cylinder. The walking mechanism comprises a hydraulic motor which serves as a driving part of the walking mechanism. The push shovel mechanism is arranged on the movable chassis and provided with a dirt suction opening, and the dirt suction opening is communicated with the dirt suction pump through a dirt suction pipe. The cleaning nozzle is arranged at the front end of the movable chassis or mounted above the dirt suction port, and the cleaning nozzle is communicated with liquid supply equipment through a liquid supply pipe; the lifting oil cylinder is connected with the movable chassis and the shovel pushing mechanism. The oil storage tank can be conveniently cleaned, safe and stable operation of the oil storage tank can be guaranteed, in addition, a hydraulic driving mode is adopted, the liquid supply equipment, the sewage suction pump and the hydraulic pump station are connected through pipelines, electrical equipment can be arranged outside the tank, and the risk of danger is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil pipe cleaning device, and particularly relates to a storage tank cleaning explosion-proof robot and a storage tank cleaning system. BACKGROUND

[0002] There are a large number of oil storage tanks for storing oil in the field of petroleum and petrochemical industry. In the long-term service process, a large amount of metal debris, sand and heavy components (such as colloid asphaltene) in oil products are deposited on the bottom of the oil tank to form black viscous sludge, which will affect the effective volume of the oil storage tank, accelerate the corrosion of the bottom plate, increase the risk of static electricity and other disadvantages, and thus needs to be cleaned, detected and maintained regularly to ensure the safe and stable operation of the oil storage tank. However, there are a large amount of flammable and explosive substances in the oil storage tank, and the use of conventional electrical equipment often brings certain safety risks, which cannot meet the oil sludge cleaning requirements of the oil storage tank. SUMMARY

[0003] The present application provides a storage tank cleaning explosion-proof robot and a storage tank cleaning system to solve the problem of oil sludge cleaning at the bottom of the oil storage tank in the prior art.

[0004] The present application provides a storage tank cleaning explosion-proof robot, which comprises:

[0005] A mobile chassis;

[0006] A walking mechanism arranged on the mobile chassis, wherein the walking mechanism comprises a hydraulic motor as a driving member of the walking mechanism, and the hydraulic motor is connected to a hydraulic pump station through a hydraulic pipeline;

[0007] A push shovel mechanism arranged on the mobile chassis, wherein the push shovel mechanism is provided with a sewage suction port, and the sewage suction port is connected to a sewage suction pump through a sewage suction pipe; and

[0008] A cleaning spray head arranged at the front end of the mobile chassis, wherein the cleaning spray head is connected to a liquid supply device through a liquid supply pipe or the cleaning spray head is arranged above the sewage suction port;

[0009] A lifting oil cylinder connected between the mobile chassis and the push shovel mechanism, wherein the lifting oil cylinder is connected to the hydraulic pump station through a hydraulic pipeline, and the lifting oil cylinder is adapted to drive the push shovel mechanism to lift.

[0010] According to the present application, the walking mechanism further comprises a pair of walking assemblies arranged on both sides of the mobile chassis.

[0011] The walking assembly comprises a driving wheel, a driven wheel and a walking track, the driving wheel and the driven wheel are arranged along the front-rear direction of the moving chassis and are respectively rotationally connected with the moving chassis, the driving wheel is in transmission connection with the hydraulic motor, and the walking track is wrapped outside the driving wheel and the driven wheel.

[0012] According to the storage tank cleaning explosion-proof robot provided by the application, the walking mechanism further comprises a plurality of supporting wheels, the plurality of supporting wheels are arranged on both sides of the moving chassis and are located between the driving wheel and the driven wheel on the corresponding side, the plurality of supporting wheels are respectively rotationally connected with the moving chassis and abut against the inner side of the walking track on the corresponding side.

[0013] According to the storage tank cleaning explosion-proof robot provided by the application, the hydraulic motor is provided with two, the two hydraulic motors are in transmission connection with the pair of driving wheels in a one-to-one correspondence, and the two hydraulic motors are independently controlled.

[0014] According to the storage tank cleaning explosion-proof robot provided by the application, the walking track is an electrically conductive oil-resistant rubber track.

[0015] According to the storage tank cleaning explosion-proof robot provided by the application, the pushing and shoveling mechanism comprises a pushing and shoveling piece, the front side of the lower part of the pushing and shoveling piece is provided with a sewage collecting groove, the upper part of the pushing and shoveling piece is provided with the sewage suction port, the sewage suction port is in communication with the sewage collecting groove, and the pushing and shoveling piece is connected with the lifting oil cylinder.

[0016] According to the storage tank cleaning explosion-proof robot provided by the application, the pushing and shoveling mechanism further comprises a limiting ball, and the limiting ball is rotationally arranged at the lower end of the pushing and shoveling piece.

[0017] According to the storage tank cleaning explosion-proof robot provided by the application, the anti-dragging mechanism comprises:

[0018] a mounting piece, which is fixedly connected with the moving chassis;

[0019] a clamp, which is sleeved outside at least one of the liquid supply pipe, the sewage suction pipe and the hydraulic pipeline; and

[0020] a line tightener, which is respectively connected with the mounting piece and the clamp, and is suitable for adjusting the distance between the clamp and the mounting piece.

[0021] According to the storage tank cleaning explosion-proof robot provided by the application, the line tightener is provided with a pair of parallel lines, and the pair of line tighteners are rotationally connected with the mounting piece and the clamp.

[0022] The application further provides a storage tank cleaning system, comprising an image acquisition device, a liquid supply device, a sewage suction pump, a hydraulic pump station, a central control console and the above-mentioned storage tank cleaning explosion-proof robot, and the central control console is signal connected with the image acquisition device, the liquid supply device, the sewage suction pump and the hydraulic pump station respectively.

[0023] The storage tank cleaning explosion-proof robot and the oil storage tank cleaning system provided by the application can realize flushing and sewage suction operation on the tank bottom sludge through the cleaning spray head and the push shovel mechanism, and the push shovel mechanism can be lifted by the lifting oil cylinder when it is not needed to be pushed and shoveled; the walking mechanism can move the storage tank cleaning explosion-proof robot in the tank, meeting the cleaning requirements at different positions; the application can be conveniently cleaned, which is beneficial to ensuring the safe and stable operation of the oil storage tank, and the hydraulic drive form is adopted, the liquid supply device, the sewage suction pump and the hydraulic pump station are connected through pipelines, and the electrical equipment can be arranged outside the tank, reducing the risk of danger. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a whole structure schematic diagram of a storage tank cleaning explosion-proof robot provided by the application.

[0026] Figure 2 is a cooperation structure schematic diagram of a mobile chassis and a walking mechanism in a storage tank cleaning explosion-proof robot provided by the application.

[0027] Figure 3 is a structure schematic diagram of a push shovel mechanism in a storage tank cleaning explosion-proof robot provided by the application.

[0028] Figure 4 is a structure schematic diagram of an anti-dragging mechanism in a storage tank cleaning explosion-proof robot provided by the application.

[0029] Figure 5 is a whole structure schematic diagram of an oil storage tank cleaning system provided by the application.

[0030] Corresponding relationship between the reference signs and the components in the application:

[0031] 1, mobile chassis; 2, walking mechanism; 3, cleaning nozzle; 4, push shovel mechanism; 5, lifting oil cylinder; 6, liquid supply pipe; 7, hydraulic pipe; 8, suction pipe; 9, anti-dragging mechanism; 10, walking track; 11, mounting frame; 12, cleaning pipe; 13, first left side support plate; 14, second left side support plate; 15, first right side support plate; 16, second right side support plate; 17, connecting rod; 18, slide rail; 19, driving wheel; 20, driven wheel; 21, support wheel; 22, suction port; 23, sewage collection tank; 24, limit ball; 25, anti-dropping piece; 26, sliding groove; 27, mounting piece; 28, connecting plate; 29, mounting plate; 30, positioning groove; 31, first adapter shaft; 32, clamp; 33, wire tightening screw; 34, mounting sleeve; 35, wire tightening nut; 36, wire tightener; 37, oil storage tank; 38, manhole; 39, image acquisition device; 40, liquid supply equipment; 41, sewage suction pump; 42, hydraulic pump station; 43, center console. DETAILED DESCRIPTION

[0032] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0033] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be "above", "over" and "on" the second feature, which can be that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. The first feature can be "under", "below" and "underneath" the second feature, which can be that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0036] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0037] The following will be described in combination with Figures 1 to 5 The tank cleaning explosion-proof robot of the embodiments of the present application is described for the convenience of description, and the front direction of the tank cleaning explosion-proof robot in the embodiments of the present application is defined as the front direction, and the opposite direction of the front direction is defined as the rear direction.

[0038] The tank cleaning explosion-proof robot of the embodiments of the present application comprises a mobile chassis 1, a walking mechanism 2, a cleaning spray head 3, a push shovel mechanism 4 and a lifting cylinder 5; the walking mechanism 2 is fixedly arranged on the mobile chassis 1, the walking mechanism 2 comprises a hydraulic motor (not shown in the figure), the hydraulic motor serves as a driving member of the walking mechanism 2, and the hydraulic motor is connected to the hydraulic pump station 42 through a hydraulic pipeline 7; the push shovel mechanism 4 is arranged on the mobile chassis 1, the push shovel mechanism 4 is provided with a sewage suction port 22, and the sewage suction port 22 is connected to a sewage suction pump 41 through a sewage suction pipe 8; the cleaning spray head 3 is arranged at the front end of the mobile chassis 1, the cleaning spray head 3 is connected to a liquid supply device 40 through a liquid supply pipe 6, or the cleaning spray head 3 is installed above the sewage suction port 22; the lifting cylinder 5 connects the mobile chassis 1 and the push shovel mechanism 4, the lifting cylinder 5 is connected to the hydraulic pump station 42 through the hydraulic pipeline 7, and the lifting cylinder 5 is suitable for driving the push shovel mechanism 4 to lift.

[0039] In some embodiments of the present application, the mobile chassis 1 comprises a first left support plate 13, a second left support plate 14, a first right support plate 15, a second right support plate 16 and a connecting rod 17 arranged in sequence and in parallel, the first left support plate 13 and the second left support plate 14 are arranged adjacently, the first right support plate 15 and the second right support plate 16 are arranged adjacently, the connecting rod 17 is perpendicular to the first left support plate 13, the second left support plate 14, the first right support plate 15 and the second right support plate 16, and is fixedly connected with the first left support plate 13, the second left support plate 14, the first right support plate 15 and the second right support plate 16, and the connection mode can be welding, bolt connection or clamping, etc., which is not specifically limited here.

[0040] Optionally, a plurality of connecting rods 17 are arranged in parallel and at intervals, and each connecting rod 17 is fixedly connected with the first left support plate 13, the second left support plate 14, the first right support plate 15 and the second right support plate 16.

[0041] Optionally, the push shovel mechanism 4 and the lifting oil cylinder 5 are arranged between the second left support plate 14 and the first right support plate 15, the lifting oil cylinder 5 is fixedly connected with the mobile chassis 1 through the connecting rod 17 connecting the second left support plate 14 and the first right support plate 15, and the lower end of the lifting oil cylinder 5 is connected with the push shovel mechanism 4, so as to drive the push shovel mechanism 4 to ascend and descend in the position between the second left support plate 14 and the first right support plate 15.

[0042] Optionally, the hydraulic motor is arranged between the second left support plate 14 and the first right support plate 15 and is fixedly connected with at least one connecting rod 17.

[0043] In some embodiments of the present application, the traveling mechanism 2 further comprises a pair of traveling assemblies, and the pair of traveling assemblies are arranged on the two sides of the mobile chassis 1; the traveling mechanism is arranged staggeredly in front and back, which can save more internal space, reduce the width of the robot, and make the robot more easily enter from the manhole.

[0044] The traveling assembly comprises a driving wheel 19, a driven wheel 20 and a traveling track 10, the driving wheel 19 and the driven wheel 20 are arranged along the front and back direction of the mobile chassis 1 and are respectively rotatably connected with the mobile chassis 1, the rotating shaft of the driving wheel 19 is drivingly connected with the hydraulic motor through a structure such as a shaft coupling or a gear set, and the traveling track 10 is wrapped outside the driving wheel 19 and the driven wheel 20.

[0045] Specifically, the first walking assembly is arranged at positions of the first left support plate 13 and the second left support plate 14, the driving wheel 19 and the driven wheel 20 of the first walking assembly are rotatably arranged between the first left support plate 13 and the second left support plate 14, and the driving wheel 19 and the driven wheel 20 of the first walking assembly and the first left support plate 13 and the second left support plate 14 are located at the inner side of the walking track 10; the second walking assembly is arranged at positions of the first right support plate 15 and the second right support plate 16, the driving wheel 19 and the driven wheel 20 of the first walking assembly are rotatably arranged between the first right support plate 15 and the second right support plate 16, and the driving wheel 19 and the driven wheel 20 of the second walking assembly and the first right support plate 15 and the second right support plate 16 are located at the inner side of the walking track 10. It should be noted that the first left support plate 13, the second left support plate 14, the first right support plate 15 and the second right support plate 16 are not in contact with the inner side of the walking track 10.

[0046] It should be noted that the push shovel mechanism 4 can be installed above or below the mobile chassis 1 according to actual needs.

[0047] Optionally, the first left support plate 13, the second left support plate 14, the first right support plate 15 and the second right support plate 16 in the mobile chassis 1 are respectively provided with adjusting grooves extending along the front-rear direction of the mobile chassis 1, and the driven wheel 20 is slidably arranged in the adjusting groove, and the walking mechanism 2 further comprises a tension adjusting structure connected to the mobile chassis 1 and connected to the rotating shaft of the driven wheel 20, and the tension adjusting structure is adapted to adjust the distance between the rotating shaft of the driven wheel 20 and the driving wheel 19.

[0048] Optionally, the tension adjusting structure comprises an adjusting bolt and an adjusting nut, the adjusting bolt is rotatably connected to the mobile chassis 1, the adjusting nut is threadedly connected with the adjusting bolt, the adjusting bolt is provided with a positioning sleeve, and the positioning sleeve is sleeved with the rotating shaft of the driven wheel 20. By rotating the adjusting bolt, the position of the adjusting nut can be adjusted, and the position of the driven wheel 20 can be adjusted, and when the driven wheel 20 moves away from the driving wheel 19, the tension of the walking track 10 can be increased. It can be understood that a pair of driven wheels 20 are respectively provided with tension adjusting structures for separate adjustment, and in order to avoid uneven stress on the rotating shaft of the driven wheel 20, the tension adjusting structures can be connected to both ends of the driven wheel 20.

[0049] In some embodiments of the present application, the walking mechanism 2 further comprises a plurality of support wheels 21, the plurality of support wheels 21 are arranged on both sides of the mobile chassis 1 and between the driving wheel 19 and the driven wheel 20 on the corresponding side, the plurality of support wheels 21 are respectively rotatably connected to the mobile chassis 1 and abut against the inner side of the corresponding walking track 10.

[0050] Specifically, part of the plurality of support wheels 21 is located between the first left support plate 13 and the second left support plate 14 and is rotatably connected to the first left support plate 13 and the second left support plate 14 through a rotating shaft, and the other part of the plurality of support wheels 21 is located between the first right support plate 15 and the second right support plate 16 and is rotatably connected to the first right support plate 15 and the second right support plate 16 through a rotating shaft.

[0051] The plurality of support wheels 21 located on the same side respectively abut against the inner wall of the corresponding side of the walking track 10 to support the position of the walking track 10 between the driving wheel 19 and the driven wheel 20.

[0052] Optionally, part of the plurality of support wheels 21 located on the same side abut against the inner side of the upper part of the walking track 10, and the other part abut against the inner side of the lower part of the walking track 10. In this embodiment, the number of support wheels 21 of the upper part and the number of support wheels 21 of the lower part are not limited, for example, one support wheel 21 is arranged on the upper part, and three support wheels 21 are arranged on the lower part.

[0053] In some embodiments of the present application, two hydraulic motors are arranged, and the two hydraulic motors are drivingly connected to a pair of driving wheels 19 in a one-to-one correspondence, and the two hydraulic motors are independently controlled. Thus, differential operation of a pair of walking assemblies can be realized to meet the needs of forward movement, reverse movement and turning. Specifically, when the driving directions and speeds of the two hydraulic motors to the pair of driving wheels 19 are the same, the tank cleaning explosion-proof robot moves forward or backward; when the driving directions or speeds of the two hydraulic motors to the pair of driving wheels 19 are different, the tank cleaning explosion-proof robot turns.

[0054] Optionally, the two hydraulic motors are arranged along the front-rear direction of the mobile chassis 1, and the arrangement directions of the driving wheel 19 and the driven wheel 20 of the first walking assembly are opposite to the arrangement directions of the driving wheel 19 and the driven wheel 20 of the second walking assembly, for example, the driving wheel 19 of the first walking assembly is located at the front end of the first left support plate 13 and the second left support plate 14, the driven wheel 20 of the first walking assembly is located at the rear end of the first left support plate 13 and the second left support plate 14, the driven wheel 20 of the second walking assembly is located at the front end of the first right support plate 15 and the second right support plate 16, and the driving wheel 19 of the second walking assembly is located at the rear end of the first right support plate 15 and the second right support plate 16. Thus, the arrangement of the two hydraulic motors can be facilitated, and the overall width of the tank cleaning explosion-proof robot can be reduced.

[0055] In some embodiments of the present application, the walking track 10 is a conductive oil-resistant rubber track, which can be used in an oil environment for a long time without quality problems such as dissolution and breakage, and the track has conductivity to prevent static hazards.

[0056] In some embodiments of the present invention, the pusher mechanism 4 includes a pusher component, a sludge collection trough 23 is provided on the front side of the lower part of the pusher component, a sludge suction port 22 is provided on the upper part of the pusher component, the sludge suction port 22 is connected to the sludge collection trough 23, and the pusher component is connected to the lifting cylinder 5.

[0057] Optionally, the pusher is a plate structure with a certain thickness. The sludge collection trough 23 extends upward from the lower end of the pusher and forms an opening on the front side of the pusher. The suction port 22 extends downward from the upper end of the pusher to the upper end of the sludge collection trough 23, and the upper end of the suction port 22 is connected to the suction pipe 8. In some other alternative embodiments, the lower end of the suction pipe 8 can also pass through the suction port 22 and extend downward to reduce the height of the lower end of the suction pipe 8, thereby making it easier to suck up sludge at lower positions.

[0058] Optionally, the second left support plate 14 and the first right support plate 15 are respectively provided with vertically arranged slide rails 18 close to each other on one side. The pusher component has sliding grooves 26 on both sides that are adapted to the slide rails 18, and the sliding grooves 26 on both sides of the pusher component are slidably engaged with the corresponding slide rails 18. By setting the matching structure of the slide rails 18 and the sliding grooves 26, the sliding of the pusher component can be made more stable. Furthermore, during the pushing process, the slide rails 18 provide support for the pusher component, preventing excessive stress and damage at the connection point between the lifting cylinder 5 and the pusher component.

[0059] When the lifting cylinder 5 drives the pusher to descend to a lower position and the tank cleaning explosion-proof robot moves forward, the sludge at the bottom of the tank can accumulate under the pusher of the pusher at the sludge collection trough 23 and be sucked up through the suction pipe 8.

[0060] In some embodiments of the present invention, the pusher mechanism 4 further includes a limiting ball 24, which is rotatably disposed at the lower end of the pusher component. Specifically, the lower end of the pusher component is provided with a mounting groove, and an anti-detachment component 25 is provided at the mounting groove position. The anti-detachment component 25 is provided with an anti-detachment hole. The mounting groove and the anti-detachment hole are respectively adapted to the limiting ball 24. The limiting ball 24 is rotatably disposed at the lower end of the pusher component through the anti-detachment component 25, and the lower side of the limiting ball 24 protrudes from the bottom of the anti-detachment component 25.

[0061] Optionally, multiple limit balls 24 are provided, and the multiple limit balls 24 are spaced apart.

[0062] By setting the limit ball 24, the pusher can be prevented from directly contacting the bottom of the tank, which can reduce friction with the bottom of the tank and reduce the risk of mechanical sparks.

[0063] In some embodiments of the present invention, the explosion-proof robot for tank cleaning further includes an anti-drag mechanism 9. The anti-drag mechanism 9 includes a mounting component 27, a clamp 32, and a tensioner 36. The mounting component 27 is fixedly connected to the mobile chassis 1; the clamp 32 is sleeved on the outside of at least one of the liquid supply pipe 6, the suction pipe 8, and the hydraulic pipe 7; the tensioner 36 connects the mounting component 27 and the clamp 32 respectively, and the tensioner 36 is adapted to adjust the distance between the clamp 32 and the mounting component 27.

[0064] The tensioner 36 includes a tensioning screw 33, a tensioning nut 35, and a mounting sleeve 34. The tensioning screw 33 is connected to the mounting component 27. The mounting sleeve 34 is fitted onto the tensioning screw 33 and is suitable for connecting the clamp 32. The tensioning nut 35 is located on the side of the mounting sleeve 34 away from the mounting component 27. The tensioning nut 35 is threadedly connected to the tensioning screw 33. By rotating the tensioning nut 35, the position of the mounting sleeve 34 can be adjusted, thereby adjusting the position of the clamp 32.

[0065] Optionally, clamp 32 is simultaneously fitted on the outside of the liquid supply pipe 6, the suction pipe 8, and the hydraulic pipe 7, which serves to limit the liquid supply pipe 6, the suction pipe 8, and the hydraulic pipe 7, prevent the connection nodes of the liquid supply pipe 6, the suction pipe 8, and the hydraulic pipe 7 from being dislodged by force, and can also prevent the liquid supply pipe 6, the suction pipe 8, and the hydraulic pipe 7 from affecting the overall movement of the tank cleaning explosion-proof robot.

[0066] Optionally, a pair of tensioners 36 are arranged in parallel, and each pair of tensioners 36 is rotatably connected to the mounting component 27 and the clamp 32. Specifically, the mounting component 27 includes a connecting plate 28 and a mounting plate 29. One end of the connecting plate 28 is fixedly connected to the mounting plate 29, and the other end is provided with a positioning groove 30. The positioning groove 30 is connected to the connecting rod 17 and is fixed by means of welding, snap-fitting, or bolting. A pair of first adapter shafts 31 are vertically arranged on the upper side of the mounting plate 29. The pair of first adapter shafts 31 are respectively rotatably engaged with the tensioning screws 33 of the pair of tensioners 36. A pair of second adapter shafts are respectively arranged on the upper side of the mounting sleeves 34 of the pair of tensioners 36. The second adapter shafts are rotatably engaged with the corresponding side of the clamp 32 through adapter holes provided on the clamp 32. This arrangement allows the anti-drag mechanism 9 to produce a certain angle of offset, which is beneficial for the turning of the explosion-proof robot for tank cleaning.

[0067] In some embodiments of the present invention, a cleaning pipe 12 and a mounting bracket 11 are provided at the front end of the mobile chassis 1. The rear end of the mounting bracket 11 is fixedly connected to the mobile chassis 1 by means of, for example, snap-fit, welding or bolt connection. A slot is provided at the front end of the mounting bracket 11, and the cleaning pipe 12 is fixedly disposed in the slot. The axis of the cleaning pipe 12 is horizontal and along the left-right direction. The cleaning pipe 12 is connected to the liquid supply pipe 6, and a cleaning head is disposed on the cleaning pipe 12.

[0068] Optionally, there are two or more cleaning nozzles 3, each of which is connected to the inner cavity of the cleaning pipe 12, and the cleaning nozzles 3 are arranged at intervals along the axis of the cleaning pipe 12.

[0069] Optionally, the cleaning nozzle 3 is a high-pressure universal nozzle, suitable for angle adjustment.

[0070] like Figure 5 As shown, this embodiment of the invention also provides a tank cleaning system, including an image acquisition device 39, a liquid supply device 40, a sludge suction pump 41, a hydraulic pump station 42, a central control console 43, and the aforementioned tank cleaning explosion-proof robot. The central control console 43 is connected to the image acquisition device 39, the liquid supply device 40, the sludge suction pump 41, and the hydraulic pump station 42 via signals.

[0071] In this embodiment, the central control console 43 is adapted to control the operation of the liquid supply device 40, the sludge suction pump 41, and the hydraulic pump station 42 based on the image information acquired by the image acquisition device 39. For example, the central control console 43 is configured to control the operation of the liquid supply device 40, the sludge suction pump 41, and the hydraulic pump station 42 based on the location information of the tank cleaning explosion-proof robot and the thickness information of the sludge at the bottom of the tank in the image information.

[0072] Optionally, the image acquisition device 39 is an explosion-proof camera, installed at the manhole location of the oil storage tank 37. Furthermore, the image acquisition device 39 has night vision capabilities to facilitate nighttime operations. The image acquisition device 39 can acquire real-time image information of the tank's interior and transmit it to the central control console. By viewing the cleaning progress inside the tank in real time, operators can more accurately judge the cleaning progress and effectiveness, thereby adjusting the cleaning strategy accordingly.

[0073] Optionally, the center console 43 is equipped with a display screen, which is adapted to display image information acquired by the image acquisition device 39.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A storage tank cleaning explosion-proof robot, characterized in that, include: Mobile chassis; A walking mechanism is provided on the mobile chassis. The walking mechanism includes a hydraulic motor, which serves as the driving component of the walking mechanism. The hydraulic motor is connected to a hydraulic pump station via a hydraulic pipeline. A pusher mechanism is installed on the mobile chassis. The pusher mechanism is equipped with a suction port, which is connected to a suction pump via a suction pipe. The cleaning nozzle is located at the front end of the mobile chassis or installed above the suction port. The cleaning nozzle is connected to the liquid supply device through a liquid supply pipe. A lifting cylinder is connected to the mobile chassis and the pusher mechanism. The lifting cylinder is connected to a hydraulic pump station through a hydraulic pipeline. The lifting cylinder is adapted to drive the pusher mechanism to lift and lower.

2. The explosion-proof robot for cleaning storage tanks according to claim 1, characterized in that, The walking mechanism also includes a pair of walking components, which are respectively disposed on both sides of the mobile chassis; The walking assembly includes a drive wheel, a driven wheel, and a walking track. The drive wheel and the driven wheel are arranged along the front-rear direction of the mobile chassis and are rotatably connected to the mobile chassis. The drive wheel is driven by the hydraulic motor, and the walking track wraps around the outside of the drive wheel and the driven wheel.

3. The explosion-proof robot for cleaning storage tanks according to claim 2, characterized in that, The walking mechanism also includes multiple support wheels, which are disposed on both sides of the mobile chassis and located between the driving wheel and the driven wheel on the corresponding side. The multiple support wheels are rotatably connected to the mobile chassis and abut against the inner side of the walking track on the corresponding side.

4. The explosion-proof robot for cleaning storage tanks according to claim 2, characterized in that, Two hydraulic motors are provided, and the two hydraulic motors are connected to the pair of drive wheels in a one-to-one transmission connection. The two hydraulic motors are controlled independently of each other.

5. The explosion-proof robot for cleaning storage tanks according to any one of claims 2 to 4, characterized in that, The track is a conductive and oil-resistant rubber track.

6. The explosion-proof robot for cleaning storage tanks according to claim 1, characterized in that, The pusher mechanism includes a pusher component, a sludge collection trough is provided on the front side of the lower part of the pusher component, a sludge suction port is provided on the upper part of the pusher component, the sludge suction port is connected to the sludge collection trough, and the pusher component is connected to the lifting cylinder.

7. The explosion-proof robot for cleaning storage tanks according to claim 6, characterized in that, The pusher mechanism also includes a limiting ball, which is rotatably disposed at the lower end of the pusher component.

8. The explosion-proof robot for cleaning storage tanks according to claim 1, characterized in that, It also includes an anti-drag mechanism, which comprises: The mounting component is fixedly connected to the mobile chassis. A clamp is fitted onto the outside of at least one of the liquid supply pipe, the suction pipe, and the hydraulic pipe; and A tensioner is provided, which is connected to the mounting component and the clamp respectively, and is adapted to adjust the distance between the clamp and the mounting component.

9. The explosion-proof robot for cleaning storage tanks according to claim 8, characterized in that, A pair of tensioners are arranged in parallel, and each pair of tensioners is rotatably connected to the mounting component and the clamp.

10. A tank cleaning system, characterized in that, The system includes an image acquisition device, a liquid supply device, a sludge suction pump, a hydraulic pump station, a central control console, and an explosion-proof tank cleaning robot as described in any one of claims 1 to 9, wherein the central control console is signal-connected to the image acquisition device, the liquid supply device, the sludge suction pump, and the hydraulic pump station, respectively.

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