Oil sludge suction robot for oily water storage tank

Abstract

The invention discloses an oily sludge suction robot for an oily water storage tank, relates to the technical field of oily sludge suction robots, and aims to solve the problems of high safety risk, high labor intensity and low operation efficiency due to the fact that an existing oily water storage tank is cleaned manually. A movable track is arranged in the oil tank manhole, a telescopic track system is arranged outside the movable track, and the telescopic track system is located outside the tank body. The oil sludge suction robot for the oily water storage tank has the advantages that oil sludge in the tank body can be efficiently cleaned through the robot, manual work is replaced with the remotely-controlled robot, the cleaning efficiency is remarkably improved, meanwhile, the safety risk is reduced, the oil sludge suction cleaning safety is improved, and the service life of the oil sludge suction robot is prolonged. And the robot is used for carrying out suction operation, so that the labor input is reduced, and the operation cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of sludge suction robot technology, and more particularly to a sludge suction robot for oily wastewater storage tanks. Background Technology

[0002] The main function of oily wastewater storage tanks in wastewater treatment is to pre-treat oily wastewater by storing, settling, and heating it. During the long pre-treatment process, a large amount of oily sludge cannot be discharged through the sludge discharge pipe and accumulates at the bottom of the tank, which can lead to blockage of the sludge discharge pipe and excessively long heating time of the oily wastewater in the tank. In severe cases, this can affect the normal pre-treatment process. Therefore, oily wastewater storage tanks need to be cleaned of oily sludge at regular intervals.

[0003] Currently, the cleaning of oily wastewater storage tanks mainly relies on manual cleaning and chemical cleaning, but this method has problems such as high safety risks, high labor intensity, and low work efficiency. In order to complete the oil sludge cleaning operation within a limited time, a considerable number of workers are required to complete the construction task on time. The number of workers ranges from a dozen to dozens. In addition, a large amount of cleaning materials and water pumps are required, resulting in high operating costs. Summary of the Invention

[0004] This invention discloses an oil sludge suction robot for oily wastewater storage tanks, which aims to solve the technical problems of high safety risks, high labor intensity and low operation efficiency of the existing manual cleaning method for oily wastewater storage tanks.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an oil sludge suction robot for an oily wastewater storage tank, comprising a tank body, an oil tank manhole provided on the tank body, a movable track provided inside the oil tank manhole, a telescopic track system provided outside the movable track, the telescopic track system located outside the tank body, and a robot trolley provided on the upper side of the movable track, a suction pipe provided outside the robot trolley, a suction head provided at one end of the suction pipe inside the tank body, a control cabinet fixedly connected to the upper side of the telescopic track system, a heating coil fixedly connected to the inner wall of the bottom of the tank body, and an oil sludge cleaning device provided outside the robot trolley. The module includes a torque resistance module on the moving track. The sludge cleaning module includes a drive turntable, the bottom of which is fixedly connected to the upper side of the robot trolley. A telescopic robotic arm is installed outside the drive turntable, and a mounting box is fixedly connected to the output end of the telescopic robotic arm. A magnetic substrate is installed outside the mounting box, and an arc-shaped sludge shovel is installed outside the magnetic substrate. The arc-shaped sludge shovel is attached to the side opposite to the inner wall of the tank. A synchronous trolley is installed outside the tank, and an electromagnet is installed on the synchronous trolley. The electromagnet and the magnetic substrate are located on the same plane. Multiple circumferentially distributed inclined stirring blades are installed outside the suction head.

[0006] In a preferred embodiment, the mounting box has two circular holes, the inner walls of which are slidably connected to the outer surface of the suction tube. A support frame is fixedly connected to the bottom inner wall of the mounting box, and a guide roller is movably connected to the support frame. The outer surface of the guide roller is in contact with the outer surface of the suction tube. A lighting lamp and a first camera are fixedly connected to the bottom of the mounting box, and a second camera is fixedly connected to the outside of the mounting box. An outer frame is provided around the suction head, the inner wall of which is fixedly connected to the outer surface of the suction tube. An internal gear ring is movably connected to the upper side of the outer frame, and a first motor is fixedly connected to the upper side of the outer frame. The output end of the first motor is connected to a transmission gear via a coupling, and the transmission gear meshes with the internal gear ring. A bracket is fixedly connected to the upper side of the drive turntable, and a round rod is fixedly connected to the bracket. The outer side of the round rod is movably connected to the end of the telescopic robotic arm away from the mounting box. A hydraulic rod is movably connected to the upper side of the drive turntable, and the output end of the hydraulic rod is movably connected to the outside of the telescopic robotic arm. A short shaft is movably connected to the mounting box, and a rotating frame is fixedly connected to the outside of the short shaft. A second motor is fixedly connected to the outside of the mounting box, and the output end of the second motor is connected to one side of the short shaft via a coupling. A second hydraulic rod is fixedly connected to the outside of the rotating frame, and a mounting plate is movably connected to the output end of the second hydraulic rod. The mounting plate has three small holes, and each small hole has a connecting bolt slidably connected to its inner wall. The outer side of each connecting bolt has... A spring is surrounded by a ring, one end of which is fixedly connected to the outside of a connecting bolt, and the other end is fixedly connected to the outside of a mounting plate. Three connecting bolts are fixedly connected to the side opposite to the magnetic substrate. A hexagonal hole is formed on the magnetic substrate, and a hexagonal fixing bolt is slidably connected within the hexagonal hole. A pressure sensor plate is slidably connected to the outside of the hexagonal fixing bolt. The hexagonal fixing bolt is fixedly connected to the side opposite to the curved surface sludge scraper. The pressure sensor plate is also fixedly connected to the side opposite to the curved surface sludge scraper. Two symmetrical protrusions are fixedly connected to the side of the mounting plate near the curved surface sludge scraper, and a balance wheel is movably connected to each of the two protrusions. A scraper is slidably connected to the side of the mounting plate near the curved surface sludge scraper. The scraping block has two symmetrical rectangular slots on the mounting plate, each containing a slider that is slidably connected to it. The sliders are fixedly connected to the side opposite the scraping block. A second spring is fixedly connected to the outside of each slider, and the end of the second spring away from the slider is fixedly connected to the outside of the mounting plate. A ring track is fixedly connected to the outside of the tank. A ring linear motor is fixedly connected to the upper side of the ring track. A movable block is slidably connected to the inner wall of the ring track. A connecting piece is fixedly connected to the outside of the movable block, and the end of the connecting piece away from the movable block is fixedly connected to the output end of the ring linear motor. A hydraulic rod is fixedly connected to the bottom of the movable block, and the output end of the hydraulic rod is fixedly connected to the outside of the synchronous trolley.

[0007] In a preferred embodiment, the torque resistance module includes two symmetrical guide rails. The bottom of each guide rail is fixedly connected to the upper side of a movable rail. Multiple equidistant positioning pins are fixedly connected to the upper side of the movable rail, with each positioning pin located between the two guide rails. A fixed cylinder is fixedly connected to the bottom of the robot car. A fitting frame is provided on the fixed cylinder. The inner wall of the fitting frame fits into the outer side of the positioning pin on the same side. A storage sleeve is fixedly connected to the top inner wall of the fitting frame. An insertion pin is slidably connected to the inner wall of the storage sleeve, and the outer side of the insertion pin is inserted into the inner wall of the positioning pin. A first hydraulic rod is provided inside the storage sleeve. The output end of the first hydraulic rod is fixedly connected to the upper side of the insertion pin. The end of the hydraulic rod away from the insertion pin is fixedly connected to the top inner wall of the fitting frame, and a reinforcing ring is fixedly connected to the outside of the receiving sleeve. A circular groove is opened on the insertion pin, and a second hydraulic rod is fixedly connected to the top inner wall of the circular groove. A conical block is fixedly connected to the output end of the second hydraulic rod. Four circumferentially distributed narrow grooves are opened on both the positioning pin and the insertion pin, and four circumferentially distributed return springs are fixedly connected to the inner wall of the circular groove. An inclined locking block is fixedly connected to the end of the return spring away from the narrow groove. The outside of the inclined locking block is slidably connected to the inner wall of the narrow groove on the insertion pin. The outside of the inclined locking block is engaged with the inner wall of the narrow groove on the positioning pin. The outside of the conical block is in contact with the outside of the inclined locking block.

[0008] As can be seen from the above, the oil sludge suction robot for oily wastewater storage tanks provided by the present invention enables the device to efficiently clean the oil sludge inside the tank with the help of the robot. By using a remotely controlled robot to replace manual labor, the cleaning efficiency is significantly improved while reducing safety risks and enhancing the safety of oil sludge suction and cleaning. Furthermore, by using a robot for suction operations, the manual input is reduced, thus lowering the operating costs. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the overall structure of an oil sludge suction robot for oily wastewater storage tanks proposed in this invention. Figure 2 This is a cross-sectional structural schematic diagram of an oil sludge suction robot for an oily wastewater storage tank proposed in this invention. Figure 3 This is a schematic diagram of the sludge cleaning module of an oil sludge suction robot for an oily wastewater storage tank proposed in this invention. Figure 4 This is a schematic diagram of the robot trolley structure of an oil sludge suction robot for oily wastewater storage tanks proposed in this invention; Figure 5 This is a schematic diagram of the mounting box and external frame structure of an oil sludge suction robot for oily wastewater storage tanks proposed in this invention. Figure 6This is a schematic diagram of the mounting plate structure of an oil sludge suction robot for an oily wastewater storage tank proposed in this invention. Figure 7 This is a schematic diagram of the magnetic substrate structure of an oil sludge suction robot for an oily wastewater storage tank proposed in this invention. Figure 8 This is a schematic diagram of the synchronous trolley structure of an oil sludge suction robot for oily wastewater storage tanks proposed in this invention; Figure 9 This is a schematic diagram of the torque resistance module structure of an oil sludge suction robot for an oily wastewater storage tank proposed in this invention; Figure 10 This is a schematic diagram of the fixed cylinder structure of an oil sludge suction robot for oily wastewater storage tanks proposed in this invention.

[0010] In the diagram: 1. Tank; 2. Telescopic track system; 3. Movable track; 4. Control cabinet; 5. Heating coil; 6. Robotic vehicle; 7. Suction pipe; 8. Sludge cleaning module; 801. Circular track; 802. Drive turntable; 803. Telescopic robotic arm; 804. Support frame; 805. Hydraulic rod one; 806. Mounting box; 807. Guide roller; 808. Lighting lamp; 809. Camera 1; 810. Camera 2; 811. External frame; 812. Internal gear ring; 813. Inclined stirring blade; 814. Motor 1; 815. Transmission gear; 816. Rotating frame; 817. Motor 2; 818. Hydraulic rod 2; 819. Mounting plate; 820. Balance wheel; 821. Connecting bolt; 822. Spring 1; 82 3. Rectangular groove; 824. Spring II; 825. Slider; 826. Scraper block; 827. Arc-shaped sludge scraper; 828. Magnetic base plate; 829. Hexagonal fixing bolt; 830. Pressure sensor plate; 831. Ring linear motor; 832. Movable block; 833. Connector; 834. Hydraulic rod III; 835. Synchronous trolley; 836. Electromagnet; 9. Torque resistance module; 901. Guide rail; 902. Positioning pin; 903. Fixing cylinder; 904. Fitting frame; 905. Storage sleeve; 906. Insertion bolt; 907. Hydraulic rod I; 908. Reinforcing ring; 909. Hydraulic rod II; 910. Conical block; 911. Inclined locking block; 912. Return spring; 913. Narrow groove; 10. Suction head. Detailed Implementation

[0011] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0012] The oil sludge suction robot for oily wastewater storage tanks disclosed in this invention is mainly applied to scenarios where the existing manual cleaning of oily wastewater storage tanks poses high safety risks, high labor intensity, and low work efficiency.

[0013] Reference Figures 1-10 A sludge suction robot for oily wastewater storage tanks includes a tank body 1 with a manhole. A movable track 3 is installed inside the manhole. A telescopic track system 2 is installed outside the movable track 3, located outside the tank body 1. A robot trolley 6 is mounted on the upper side of the movable track 3. A suction pipe 7 is installed outside the robot trolley 6, with a suction head 10 at one end of the suction pipe 7 inside the tank body 1. A control cabinet 4 is bolted to the upper side of the telescopic track system 2. A heating coil 5 is bolted to the inner bottom wall of the tank body 1. A sludge cleaning module 8 is installed outside the robot trolley 6. A torque resistance module 9 is installed on the movable track 3. The sludge cleaning module 8 includes a drive... Turntable 802, the bottom of drive turntable 802 is bolted to the upper side of robot car 6, telescopic robotic arm 803 is provided on the outside of drive turntable 802, the output end of telescopic robotic arm 803 is bolted to mounting box 806, magnetic substrate 828 is provided on the outside of mounting box 806, arc-shaped sludge shovel 827 is provided on the outside of magnetic substrate 828, arc-shaped sludge shovel 827 is attached to the side opposite to the inner wall of tank 1, and synchronous trolley 835 is provided on the outside of tank 1, electromagnet 836 is provided on synchronous trolley 835, electromagnet 836 and magnetic substrate 828 are located on the same plane, and multiple circumferentially distributed inclined stirring blades 813 are provided on the outside of suction head 10.

[0014] Specifically, the device utilizes the sludge cleaning module 8, which enables the device to efficiently clean the sludge inside the tank 1 with the help of a robot. By using a remotely controlled robot to replace manual labor, the cleaning efficiency is significantly improved while reducing safety risks and enhancing the safety of sludge suction and cleaning. Furthermore, by using a robot for suction operations, manual labor input is reduced, thus lowering operating costs.

[0015] Reference Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8In a preferred embodiment, the mounting box 806 has two circular holes, the inner walls of which are slidably connected to the outer side of the suction tube 7. A support frame is bolted to the bottom inner wall of the mounting box 806, and a guide roller 807 is rotatably connected to the support frame via bearings. The outer side of the guide roller 807 is in contact with the outer side of the suction tube 7. A lighting lamp 808 and a first camera 809 are bolted to the bottom of the mounting box 806. A second camera 810 is bolted to the outside of the mounting box 806. An outer frame 811 is provided on the outside of the suction head 10, the inner wall of which is bolted to the outside of the suction tube 7. The upper side of the outer frame 811 is... An internal gear ring 812 is rotatably connected to a bearing. A motor 814 is bolted to the upper side of the outer frame 811. The output end of the motor 814 is connected to a transmission gear 815 via a coupling, and the transmission gear 815 meshes with the internal gear ring 812. A bracket 804 is bolted to the upper side of the drive turntable 802. A round rod is bolted to the bracket 804. The outer end of the round rod is rotatably connected to the end of the telescopic robotic arm 803 away from the mounting box 806 via a bearing. A hydraulic rod 805 is rotatably connected to the upper side of the drive turntable 802 via a bearing. The output end of the hydraulic rod 805 is rotatably connected to the outer side of the telescopic robotic arm 803 via a bearing. The mounting box 802... A short shaft is rotatably connected to the mounting box 806 via bearings. A rotating frame 816 is bolted to the outside of the short shaft. A second motor 817 is bolted to the outside of the mounting box 806. The output end of the second motor 817 is connected to one side of the short shaft via a coupling. A second hydraulic rod 818 is bolted to the outside of the rotating frame 816. The output end of the second hydraulic rod 818 is rotatably connected to a mounting plate 819 via bearings. The mounting plate 819 has three small holes, each with a connecting bolt 821 slidably connected to its inner wall. A first spring 822 surrounds the outside of each connecting bolt 821. One end of the first spring 822 is bolted to the outside of the connecting bolt 821, and the other end is bolted to the mounting plate 819. The external of 9 is connected by bolts, and the three connecting bolts 821 are all connected by bolts on the side opposite to the magnetic substrate 828; the magnetic substrate 828 has a hexagonal hole, and a hexagonal fixing bolt 829 is slidably connected in the hexagonal hole. The pressure sensor plate 830 is slidably connected to the outside of the hexagonal fixing bolt 829. The side of the hexagonal fixing bolt 829 opposite to the arc surface sludge scraper 827 is connected by bolts. The side of the pressure sensor plate 830 opposite to the arc surface sludge scraper 827 is connected by bolts. The side of the mounting plate 819 near the arc surface sludge scraper 827 has two symmetrical bosses connected by bolts. The two bosses are rotatably connected to a balance wheel 820 through a bearing.A scraper block 826 is slidably connected to the side of the mounting plate 819 near the curved sludge scraper 827. Two symmetrical rectangular grooves 823 are formed on the mounting plate 819, and sliders 825 are slidably connected within each groove 823. The sides of the sliders 825 opposite to the scraper block 826 are bolted together. A second spring 824 is bolted to the outside of each slider 825, and the end of the second spring 824 furthest from the slider 825 is bolted to the outside of the mounting plate 819. An annular ring is bolted to the outside of the tank body 1. A circular linear motor 831 is bolted to the upper side of track 801. A movable block 832 is slidably connected to the inner wall of the circular track 801. A connecting piece 833 is bolted to the outside of the movable block 832. The end of the connecting piece 833 away from the movable block 832 is bolted to the output end of the circular linear motor 831. A hydraulic rod 834 is bolted to the bottom of the movable block 832. The output end of the hydraulic rod 834 is bolted to the outside of the synchronous trolley 835.

[0016] In specific application scenarios, the sludge cleaning module 8 is mainly suitable for the sludge cleaning stage in the sludge cleaning process. Specifically, the sludge cleaning module 8 utilizes a drive turntable 802, a telescopic robotic arm 803, and a hydraulic rod 805 to enable the telescopic robotic arm 803 to move the suction head 10 omnidirectionally within the tank 1. The adjustable-length suction pipe 7 increases the suction range and improves the suction effect of the suction head 10. The lighting 808, a first camera 809, and a second camera 810 illuminate and observe the environment inside the tank 1, thus assisting remote operators in making their operations more accurate and improving their judgment. The inclined stirring plate 813, the external frame 811, and the heating coil 5 soften highly viscous sludge, improving the suction and conveying capacity of the suction pipe 7. It should be noted that the device utilizes a rotating frame 816 and a balance... The device, consisting of wheel 820, hydraulic rod 818, magnetic base plate 828, pressure sensor plate 830, curved sludge scraper 827, ring linear motor 831, hydraulic rod 834, and electromagnet 836, can simultaneously scrape off sludge adhering to the inner wall of tank 1. By controlling the output power of scraping block 826, the force of curved sludge scraper 827 adhering to the inner wall of tank 1 is adjusted, thereby ensuring the cleaning effect of sludge on the inner wall while reducing scratching with the coating on the inner wall of tank 1, ensuring the integrity of the coating, and protecting the corrosion resistance of tank 1. The scraping block 826, rectangular groove 823, and spring 824 can be used to clean the sludge adhering to curved sludge scraper 827, preventing sludge from solidifying on the curved sludge scraper 827 after use, which would affect its subsequent use.

[0017] Reference Figure 9 and Figure 10In a preferred embodiment, the torque resistance module 9 includes two symmetrical guide rails 901. The bottom of each guide rail 901 is bolted to the upper side of the movable rail 3. Multiple equidistant positioning pins 902 are bolted to the upper side of the movable rail 3, with the positioning pins 902 located between the two guide rails 901. The bottom of the robot car 6 is bolted to a fixed cylinder 903. A fitting frame 904 is provided on the fixed cylinder 903. The inner wall of the fitting frame 904 fits into the outer side of the positioning pin 902 on the same side. A storage sleeve 905 is bolted to the top inner wall of the fitting frame 904. An insertion bolt 906 is slidably connected to the inner wall of the storage sleeve 905, and the outer side of the insertion bolt 906 is inserted into the inner wall of the positioning pin 902. A first hydraulic rod 907 is provided inside the storage sleeve 905. The output end of the first hydraulic rod 907 is bolted to the upper side of the insertion bolt 906. 7. The end furthest from the insertion pin 906 is bolted to the top inner wall of the fitting frame 904, and a reinforcing ring 908 is bolted to the outside of the receiving sleeve 905. A circular groove is formed on the insertion pin 906, and a second hydraulic rod 909 is bolted to the top inner wall of the groove. A conical block 910 is bolted to the output end of the second hydraulic rod 909. Four circumferentially equidistant narrow slots 913 are formed on both the positioning pin 902 and the insertion pin 906. Four circumferentially distributed return springs 912 are bolted to the inner wall of the circular groove. The end of each return spring 912 away from the narrow groove 913 is bolted to a beveled locking block 911. The outer side of each beveled locking block 911 is slidably connected to the inner wall of the narrow groove 913 on the insertion pin 906. The outer side of each beveled locking block 911 is engaged with the inner wall of the narrow groove 913 on the positioning pin 902. The outer side of each conical block 910 is in contact with the outer side of the beveled locking block 911.

[0018] In specific application scenarios, the torque resistance module 9 is mainly used for the torque resistance stage in the torque resistance process. That is, the torque resistance module 9 uses the fixed cylinder 903, the fitting frame 904, the positioning pin 902, and the insertion bolt 906 to provide a compensating torque for the robot car 6 during operation, thereby resisting the torque transmitted to the robot car 6 by the telescopic robotic arm 803 after extension. This effectively improves the stability of the robot car 6 and reduces the risk of tipping over during use. The fixed cylinder 903 and the positioning pin 902 can be locked together using the second hydraulic rod 909, the conical block 910, the inclined locking block 911, and the narrow groove 913, thereby improving the positioning capability of the robot car 6 and reducing the deviation of the robot car 6 during use.

[0019] Working principle: Before and during the suction operation, the gas inside the tank 1 is continuously monitored using oil and gas detection equipment. After confirming safety, the telescopic track system 2 pushes the movable track 3 into the tank 1 through the manhole and sets it on the heating coil 5. Then, the robot trolley 6 is placed on the movable track 3, started, and controlled to move to the designated position, so that the fitting frame 904 on the fixed cylinder 903 engages with the positioning pin 902. The first hydraulic rod 907 is activated, pushing the insertion bolt 906 to insert. Positioning pin 902 is engaged; then, hydraulic rod 909 is activated to push cone block 910 downward, causing inclined locking block 911 to engage in slot, thus securing robot car 6. After activating lighting 808, camera 809, and camera 810, telescopic robotic arm 803 is extended, and suction pipe 7 is lowered, allowing suction head 10 to sink into the preheated and softened sludge from heating coil 5. Motor 814 is activated, driving internal gear ring 812 to rotate, causing inclined stirring blade 813 to stir the sludge. Under the action of sludge suction pump and suction pipe 7, sludge is suctioned to outside tank 1 for centralized processing. During suction, drive turntable 802 is controlled to rotate 360 ​​degrees and gradually retracts in coordination with telescopic robotic arm 803 to suction sludge from the bottom of tank 1. As the sludge level drops, motor 817 is activated, driving the rotating frame 816 to steer towards the inner wall of tank 1. The length of the telescopic robotic arm 803 is adjusted so that the balance wheel 820 just touches the inner wall. The circular linear motor 831 is activated, driving the movable block 832, connected to the connecting piece 833, to slide within the circular track 801, aligning the synchronous trolley 835 with the mounting plate 819 on the same plane. Electromagnet 836 is activated, generating magnetic force between itself and the magnetic substrate 828. This forces the magnetic substrate 828 to overcome the tension of spring 822, pressing the arc-shaped sludge scraper 827 firmly against the inner wall of the tank. The magnetic force of electromagnet 836 is adjusted based on data from the pressure sensor plate 830. As the drive turntable 802 rotates, the arc-shaped sludge scraper 827 scrapes off the sludge adhering to the inner wall. Start hydraulic rod 805 and hydraulic rod 818 to make the telescopic mechanical arm 803 rotate downwards, while keeping the balance wheel 820 in contact with the inner wall of the tank. The scraped sludge is then sucked up by the suction head 10. After the suction is completed, the electromagnet 836 is turned off, and the arc-shaped sludge scraper 827 is reset under the action of spring 822. It is pressed against the scraping block 826, causing the scraping block 826 to move outward against the elastic force of spring 824, and scraping off the sludge attached to the inclined surface of the arc-shaped sludge scraper 827.

[0020] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for pumping sludge from an oily wastewater storage tank, comprising a tank (1), characterized in that, The tank body (1) is provided with an oil tank manhole, and a movable track (3) is provided inside the oil tank manhole. A telescopic track system (2) is provided outside the movable track (3). The telescopic track system (2) is located outside the tank body (1), and a robot trolley (6) is provided on the upper side of the movable track (3). A suction pipe (7) is provided on the outside of the robot trolley (6). A suction head (10) is provided at one end of the suction pipe (7) inside the tank body (1). A control cabinet (4) is fixedly connected to the upper side of the telescopic track system (2). A heating coil (5) is fixedly connected to the bottom inner wall of the tank body (1). An oil sludge cleaning module (8) is provided outside the robot trolley (6). A torque resistance module (9) is provided on the movable track (3). The oil sludge cleaning module (8) includes a drive turntable (802). The bottom of the drive turntable (802) is fixedly connected to the upper side of the robot car (6). A telescopic mechanical arm (803) is provided on the outside of the drive turntable (802). An installation box (806) is fixedly connected to the output end of the telescopic mechanical arm (803). A magnetic substrate (828) is provided on the outside of the installation box (806). An arc-shaped sludge shovel (827) is provided on the outside of the magnetic substrate (828). The arc-shaped sludge shovel (827) is attached to the side opposite to the inner wall of the tank (1). A synchronous trolley (835) is provided on the outside of the tank (1). An electromagnet (836) is provided on the synchronous trolley (835). The electromagnet (836) and the magnetic substrate (828) are located on the same plane. Multiple circumferentially distributed inclined stirring blades (813) are provided on the outside of the suction head (10).

2. The oil sludge suction robot for oily wastewater storage tanks according to claim 1, characterized in that, The mounting box (806) has two circular holes, the inner walls of which are slidably connected to the outer side of the suction tube (7). A support frame is fixedly connected to the bottom inner wall of the mounting box (806), and a guide roller (807) is movably connected to the support frame. The outer side of the guide roller (807) is in contact with the outer side of the suction tube (7). A lighting lamp (808) and a first camera (809) are fixedly connected to the bottom of the mounting box (806), and a second camera is fixedly connected to the outside of the mounting box (806). The head (810) is provided with an outer frame (811) on the outside of the suction head (10). The inner wall of the outer frame (811) is fixedly connected to the outside of the suction tube (7). An inner gear ring (812) is movably connected to the upper side of the outer frame (811). A motor (814) is fixedly connected to the upper side of the outer frame (811). The output end of the motor (814) is connected to a transmission gear (815) through a coupling. The transmission gear (815) meshes with the inner gear ring (812).

3. The oil sludge suction robot for oily wastewater storage tanks according to claim 2, characterized in that, A bracket (804) is fixedly connected to the upper side of the drive turntable (802). A round rod is fixedly connected to the bracket (804). The outer side of the round rod is movably connected to the end of the telescopic robotic arm (803) away from the mounting box (806). A hydraulic rod (805) is movably connected to the upper side of the drive turntable (802). The output end of the hydraulic rod (805) is movably connected to the outside of the telescopic robotic arm (803). A short shaft is movably connected to the mounting box (806). A rotating frame (816) is fixedly connected to the outside of the short shaft. A motor (817) is fixedly connected to the outside of the mounting box (806). The output end of the motor (817) is connected to one side of the short shaft through a coupling.

4. The oil sludge suction robot for oily wastewater storage tanks according to claim 3, characterized in that, The rotating frame (816) is externally fixedly connected to a hydraulic rod two (818), and the output end of the hydraulic rod two (818) is movably connected to a mounting plate (819). The mounting plate (819) has three small holes, and the inner walls of the small holes are slidably connected to connecting bolts (821). The outer side of each connecting bolt (821) is surrounded by a spring one (822). One end of the spring one (822) is fixedly connected to the outer side of the connecting bolt (821), and the other end is fixedly connected to the outer side of the mounting plate (819). The three connecting bolts (821) are fixedly connected to the side opposite to the magnetic substrate (828).

5. The oil sludge suction robot for oily wastewater storage tanks according to claim 4, characterized in that, The magnetic substrate (828) has a hexagonal hole, and a hexagonal fixing bolt (829) is slidably connected inside the hexagonal hole. A pressure sensor plate (830) is slidably connected to the outside of the hexagonal fixing bolt (829). The hexagonal fixing bolt (829) is fixedly connected to the side opposite to the arc-shaped sludge scraper (827). The pressure sensor plate (830) is fixedly connected to the side opposite to the arc-shaped sludge scraper (827). Two symmetrical protrusions are fixedly connected to the side of the mounting plate (819) near the arc-shaped sludge scraper (827). A balance wheel (820) is movably connected to each of the two protrusions.

6. The oil sludge suction robot for oily wastewater storage tanks according to claim 5, characterized in that, The mounting plate (819) has a scraper block (826) slidably connected to the side of the arc-shaped sludge scraper (827). The mounting plate (819) has two symmetrical rectangular grooves (823). A slider (825) is slidably connected in each of the rectangular grooves (823). The slider (825) is fixedly connected to the side opposite to the scraper block (826). A spring (824) is fixedly connected to the outside of the slider (825), and the end of the spring (824) away from the slider (825) is fixedly connected to the outside of the mounting plate (819).

7. The oil sludge suction robot for oily wastewater storage tanks according to claim 6, characterized in that, The tank body (1) is fixedly connected to an annular track (801) on the outside. An annular linear motor (831) is fixedly connected to the upper side of the annular track (801). A movable block (832) is slidably connected to the inner wall of the annular track (801). A connecting piece (833) is fixedly connected to the outside of the movable block (832). The end of the connecting piece (833) away from the movable block (832) is fixedly connected to the output end of the annular linear motor (831). A hydraulic rod three (834) is fixedly connected to the bottom of the movable block (832). The output end of the hydraulic rod three (834) is fixedly connected to the outside of the synchronous trolley (835).

8. The oil sludge suction robot for oily wastewater storage tanks according to claim 1, characterized in that, The torque resistance module (9) includes two symmetrical guide rails (901). The bottom of each guide rail (901) is fixedly connected to the upper side of the movable rail (3). The upper side of the movable rail (3) is fixedly connected to a plurality of equidistant positioning pins (902). The positioning pins (902) are located between the two guide rails (901). The bottom of the robot car (6) is fixedly connected to a fixed cylinder (903). A fitting frame (904) is provided on the fixed cylinder (903). The inner wall of the fitting frame (904) fits into the outer side of the positioning pin (902) on the same side. A storage sleeve (905) is fixedly connected to the top inner wall of the fitting frame (904). An insertion plug (906) is slidably connected to the inner wall of the storage sleeve (905). The outer side of the insertion plug (906) is inserted into the inner wall of the positioning pin (902).

9. The oil sludge suction robot for oily wastewater storage tanks according to claim 8, characterized in that, The storage sleeve (905) is provided with a first hydraulic rod (907). The output end of the first hydraulic rod (907) is fixedly connected to the upper side of the insertion plug (906). The end of the first hydraulic rod (907) away from the insertion plug (906) is fixedly connected to the top inner wall of the fitting frame (904). A reinforcing ring (908) is fixedly connected to the outside of the storage sleeve (905). A circular groove is opened on the insertion plug (906). A second hydraulic rod (909) is fixedly connected to the top inner wall of the circular groove.

10. The oil sludge suction robot for oily wastewater storage tanks according to claim 9, characterized in that, The output end of the second hydraulic rod (909) is fixedly connected to a conical block (910). The positioning pin (902) and the insertion bolt (906) are each provided with four circumferentially equidistant narrow slots (913). The inner wall of the slots is fixedly connected to four circumferentially equidistant return springs (912). The end of the return spring (912) away from the narrow slot (913) is fixedly connected to a slope locking block (911). The outside of the slope locking block (911) is slidably connected to the inner wall of the narrow slot (913) on the insertion bolt (906). The outside of the slope locking block (911) is engaged with the inner wall of the narrow slot (913) on the positioning pin (902). The outside of the conical block (910) is in contact with the outside of the slope locking block (911).

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