A sealed container cleaning robot

Abstract

The utility model relates to a sealed container cleaning robot relates to oil tank cleaning technical field, including magnetic wall climbing robot, telescopic cylinder, mounting frame, cleaning device and cleaning device. Telescopic cylinder drives mounting frame to adjust the distance of cleaning device and oil tank inner wall accurately, and cleaning device adopts conical roller cooperation circulation cleaning belt, can adapt to oil tank straight cylinder section and top, bottom big curvature camber surface, eliminates cleaning blind area, driving roller and extruding roller synchronous extrusion realize cleaning belt online self -cleaning, and matched elastic toothed scraper improves oil dirt adsorption efficiency. Cleaning device integrates steam injection and negative pressure suction, forms grading cleaning system. Through installing camera on mounting frame, can reach the purpose of real -time visual detection. The utility model realizes oil tank full inner wall automatic blind -area -free continuous cleaning, avoids personnel to enter sealed dangerous environment, significantly improves cleaning efficiency, operation safety and equipment reliability.

Description

Technical Field

[0001] This invention relates to the field of oil tank cleaning technology, and in particular to a closed container cleaning robot. Background Technology

[0002] During long-term operation, heavy components and impurities in the oil storage tanks of hydroelectric generator units gradually deposit on the inner walls of the tanks, forming a stubborn oil sludge layer. This not only contaminates subsequently stored oil but also accelerates tank corrosion, potentially leading to leaks and other safety accidents. Therefore, regular cleaning of the tank inner walls is essential. Traditional manual cleaning methods require personnel to enter the confined, flammable, explosive, and toxic environment inside the tank, posing extremely high safety risks. Furthermore, these methods suffer from numerous drawbacks, including high labor intensity, low cleaning efficiency, and inconsistent cleaning quality, failing to meet the requirements of safe production and efficient operation and maintenance in the modern petrochemical industry. Automated cleaning technology based on wall-climbing robots is gradually becoming the mainstream development direction in this field.

[0003] Currently available magnetic wall-climbing cleaning robots on the market mostly employ rotating brushes, high-pressure water jets, or fixed oil-absorbing pads as their cleaning execution mechanisms. Among these, rotating brushes easily generate a large amount of oil splatter during cleaning, causing secondary pollution inside the tank, and the brushes wear out quickly, requiring frequent shutdowns for replacement. High-pressure water jet cleaning produces a large amount of high-concentration oily wastewater, with complex and costly subsequent treatment processes, and significantly increases the humidity inside the tank, accelerating corrosion of the tank's metal structure. Furthermore, existing cleaning execution mechanisms generally use a structure design with cylindrical rollers and a flat cleaning belt. This structure can only adapt well to the cylindrical inner wall of the straight section of the oil tank. When the robot moves to the large-curvature arc transition surfaces at the top and bottom of the oil tank, the fit between the cleaning belt and the arc surface decreases sharply, creating large, uncovered cleaning blind spots. Simultaneously, the ends of the cylindrical rollers are prone to rigid interference with the large-curvature arc surfaces, causing the robot to jam or even tip over, severely affecting the continuity and comprehensiveness of the cleaning operation.

[0004] In summary, existing automated cleaning equipment for the inner walls of sealed containers has significant shortcomings in terms of curved surface adaptability, continuous operation performance, and equipment reliability. It is difficult to achieve efficient, safe, and blind-spot-free continuous cleaning of the entire inner wall of oil storage tanks, and it cannot fully meet the actual engineering application needs of the petrochemical industry. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention discloses a closed container cleaning robot.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0007] A closed container cleaning robot includes:

[0008] A magnetic wall-climbing robot is able to walk along the inner wall of an oil storage tank;

[0009] A telescopic cylinder is vertically installed at one end of the magnetic wall-climbing robot.

[0010] The mounting bracket is securely connected to the telescopic end of the telescopic cylinder;

[0011] A cleaning device, mounted on a mounting frame, is used to clean residual oil stains from the inner wall of the oil storage tank;

[0012] A cleaning device is installed on the magnetic wall-climbing robot; the cleaning device cleans the cleaning unit, ensuring that the cleaning unit has a continuous ability to remove residual oil stains.

[0013] Preferably, the cleaning device includes:

[0014] Clean the housing and install it on the mounting bracket, which has an open bottom and a horizontal mounting cavity at the top;

[0015] A tapered roller is rotatably mounted at the bottom opening of the cleaning housing;

[0016] The first redirecting roller is rotatably mounted at one end of the horizontal mounting cavity of the cleaning housing;

[0017] The second redirecting roller is rotatably mounted at the other end of the horizontal mounting cavity of the cleaning housing.

[0018] The cleaning belt is wrapped around the tapered roller, the first deflector roller, and the second deflector roller, and the surface of the cleaning belt is provided with an oil-absorbing cotton layer.

[0019] A drive roller is rotatably mounted between a first redirecting roller and a second redirecting roller, and both ends of the drive roller are rotatably connected to the cleaning housing.

[0020] The extrusion roller is rotatably mounted above the drive roller; the extrusion roller and the drive roller are synchronously connected and driven together to squeeze the cleaning belt and squeeze out the oil stains absorbed by the oil-absorbing cotton layer.

[0021] The drive motor is installed inside the cleaning housing, and the output end of the drive motor is connected to the drive roller drive.

[0022] An elastic toothed scraper is installed on the front bottom of the cleaning housing in the direction of travel of the magnetic wall-climbing robot. The bottom of the elastic toothed scraper has a toothed structure.

[0023] Preferably, the cleaning device further includes a tension roller installed inside the cleaning housing, and an adjusting device for adjusting the position of the tension roller; there are two adjusting devices, respectively installed on both sides of the cleaning housing; the adjusting device includes:

[0024] A slide rail is installed on the cleaning housing, and the cleaning housing has a strip-shaped slot corresponding to the slide rail; the roller shaft of the tension roller extends movably out of the strip-shaped slot;

[0025] The slider slides in conjunction with the slide rail, and the roller shaft of the tensioning roller is rotatably connected to the slider.

[0026] The mounting base is installed on the cleaning housing;

[0027] The adjusting rod is rotatably connected to the slider at one end and passes through the fixed seat at the other end, and is threadedly connected to the fixed seat.

[0028] Preferably, the adjusting rod body has locking nuts threadedly connected to both sides of the fixed seat.

[0029] Preferably, the cleaning device includes:

[0030] A steam generator is installed on a magnetic wall-climbing robot.

[0031] The cleaning hood is installed in the horizontal mounting cavity of the cleaning housing, and the cleaning hood is located on one side of the extrusion roller;

[0032] A partition is installed inside the cleaning hood, dividing the hood into two chambers. One chamber is a negative pressure chamber, which is connected to an external negative pressure suction device through a flexible negative pressure pipeline. The other chamber is a steam chamber.

[0033] The steam nozzle is installed inside the steam chamber of the cleaning hood. The steam nozzle is connected to the steam outlet of the steam generator via a hose. The steam nozzle sprays high-temperature steam toward the surface of the cleaning belt and the oil sludge squeezed out by the squeeze roller and drive roller.

[0034] Preferably, a telescopic hose is installed between the cleaning device and the cleaning device, and both the flexible negative pressure pipeline and the steam hose are inserted inside the telescopic hose.

[0035] Preferably, the cleaning hood is provided with a scraper that contacts the extrusion roller.

[0036] Preferably, the magnetic wall-climbing robot includes:

[0037] Robot casing;

[0038] The magnetic drive wheel assembly is rotatably mounted on one end of the bottom of the robot housing.

[0039] The magnetically attached driven wheel assembly is rotatably mounted on the other end of the robot's shell. The magnetically attached driven wheel assembly is connected to the magnetically attached driven wheel assembly through a transmission. The magnetically attached active wheel assembly drives the magnetically attached driven wheel assembly to rotate synchronously, thus achieving a crab-like walking mode.

[0040] Preferably, the magnetic drive wheel assembly includes:

[0041] The first wheel frame is rotatably connected to the robot's shell at the top.

[0042] A right-angle dual-output transmission box is installed at the bottom of the first wheel frame;

[0043] There are two drive wheels, which are respectively mounted on the two output shafts of the right-angle double-outlet transmission box;

[0044] The walking motor is installed inside the robot housing, and its output end is connected to the input end of the right-angle double-output transmission box.

[0045] A steering motor, installed inside the robot's housing, is used to drive the first wheel frame to steer.

[0046] The first permanent magnet is installed at the bottom of the right-angle double-outlet transmission box.

[0047] Preferably, the magnetically driven wheel assembly includes two structures;

[0048] The first structure includes:

[0049] The second wheel frame is securely connected to the robot's shell at the top.

[0050] There are two driven wheels, which are rotatably mounted on both sides of the bottom of the second wheel frame;

[0051] The second permanent magnet is installed at the bottom of the second wheel frame and located between the two driven wheels;

[0052] The second type of structure includes:

[0053] The second wheel frame is rotatably connected to the robot shell at the top, and the second wheel frame is connected to the first wheel frame via a synchronous belt.

[0054] There are two driven wheels, which are rotatably mounted on both sides of the bottom of the second wheel frame;

[0055] The second permanent magnet is installed at the bottom of the second wheel frame and is located between the two driven wheels.

[0056] By employing the technical solution described above, the present invention has the following beneficial effects:

[0057] (1) The structure of this invention uses a magnetic wall-climbing robot as a mobile carrier, which realizes the fully automated cleaning of residual oil stains on the inner wall of the oil storage tank, completely avoids the safety risks of workers entering a closed, flammable, explosive, toxic and harmful environment, greatly reduces labor intensity, and improves the efficiency and standardization of cleaning operations.

[0058] (2) This invention employs a structure of a conical roller with a thicker middle and thinner ends, combined with an elastic cleaning belt. This structure allows the cleaning belt to automatically center during movement, effectively preventing belt deviation, and perfectly adapts to the large curvature arc transition surfaces of the straight cylindrical section, top, and bottom of the oil storage tank. When the robot moves to the large curvature arc area, the smaller diameter ends of the conical roller will not rigidly interfere with the arc surface, while the larger diameter middle part can maintain effective contact with the arc surface, ensuring the fit between the cleaning belt and the inner wall with different curvatures. This fundamentally eliminates the cleaning blind spots present in existing equipment, achieving thorough cleaning of the entire inner wall of the oil storage tank without dead angles. At the same time, the telescopic cylinder can drive the mounting frame to move in a direction perpendicular to the inner wall, precisely adjusting the distance between the cleaning device and the inner wall, ensuring that the cleaning belt is always in the best fit, and guaranteeing the cleaning quality.

[0059] (3) The present invention adopts a structure in which a circulating cleaning belt is combined with a drive roller and a squeezing roller to extrude in opposite directions, thereby realizing continuous adsorption of residual oil on the inner wall and online self-cleaning of the cleaning belt. It eliminates the need for frequent shutdowns to replace the cleaning medium, significantly improving the continuous operation time and overall cleaning efficiency of the cleaning device. A water-proof layer is set between the oil-absorbing cotton layer on the outer surface of the cleaning belt and the belt surface, which can effectively prevent oil from penetrating and damaging the belt body, and extend the service life of the belt.

[0060] (4) The integrated cleaning device and mechanical extrusion structure of this invention form a graded cleaning system. First, mechanical extrusion removes most of the fluid oil stains in the oil-absorbing cotton layer. Then, high-temperature steam softens and peels away stubborn heavy oil stains that penetrate deep into the fibers. Finally, negative pressure suction completes the centralized collection of oil stains and condensate, which greatly improves the cleaning effect of the cleaning belt and further extends its continuous use time. The cleaning cover is integrated and installed in the horizontal mounting cavity of the cleaning shell, automatically and accurately corresponding to the movement trajectory of the cleaning belt. At the same time, it can prevent steam and oil stains from spreading to the outside, avoiding contamination of the robot's electrical system, transmission mechanism and other key components, reducing equipment failure rate and maintenance costs.

[0061] (5) The magnetic wall-climbing robot of this invention uses a right-angle double-outlet transmission box to drive two drive wheels to rotate synchronously, ensuring straightness during walking and effectively avoiding the problem of slippage on one side; the steering motor, in conjunction with the synchronous belt drive, can realize synchronous steering of the front and rear wheel sets, enabling the robot to have a crab-like walking mode, which can flexibly switch between longitudinal and lateral walking directions without turning in place, avoiding the scratch damage to the inner wall of the oil tank caused by turning in place, and improving the continuity of walking and cleaning operations. The bottom of the wheel set integrates permanent magnets, which can provide stable and reliable magnetic attraction force, ensuring that the robot walks safely and stably on metal inner walls at different angles such as vertical and inclined. Attached Figure Description

[0062] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0063] Figure 2 This is a schematic diagram of the structure of the present invention;

[0064] Figure 3 This is a schematic diagram of the internal structure of the cleaning device;

[0065] Figure 4 This is a partial structural diagram of the cleaning device;

[0066] Figure 5 Schematic diagram of the regulating device;

[0067] Figure 6 This is a schematic diagram of the internal structure of a magnetic wall-climbing robot.

[0068] Figure 7 This is a schematic diagram of the magnetic drive wheel assembly.

[0069] Figure 8 This is a top view of the magnetic drive wheel assembly;

[0070] Figure 9 This is a schematic diagram of the magnetic driven wheel assembly.

[0071] In the diagram: 1. Magnetic wall-climbing robot; 1-1. Robot shell; 1-2. First wheel frame; 1-3. Right-angle double-outlet transmission box; 1-4. Drive wheel; 1-5. Walking motor; 1-6. Steering motor; 1-7. First permanent magnet; 1-8. Second wheel frame; 1-9. Driven wheel; 1-10. Second permanent magnet; 2. Telescopic cylinder; 3. Mounting frame; 4. Cleaning device; 4-1. Cleaning shell; 4-2. Conical roller; 4-3. First redirecting roller; 4-4. Second redirecting roller. 4-5. Cleaning belt; 4-6. Drive roller; 4-7. Squeeze roller; 4-8. Drive motor; 4-9. Elastic toothed scraper; 4-10. Tensioning roller; 5. Cleaning device; 5-1. Steam generator; 5-2. Cleaning hood; 5-3. Baffle; 5-4. Steam nozzle; 5-5. Scraper; 6. Telescopic hose; 7. Adjusting device; 7-1. Slide rail; 7-2. Slider; 7-3. Fixing seat; 7-4. Adjusting rod; 7-5. Locking nut; 8. Camera. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0073] In the description of this invention, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0074] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0075] Example 1:

[0076] Combined with appendix Figures 1-4 A closed-container cleaning robot includes a magnetic wall-climbing robot 1, a telescopic cylinder 2, a mounting frame 3, a cleaning device 4, and a cleaning device 5. In this embodiment, the magnetic wall-climbing robot 1 is a commercially available and mature device that can move along the inner wall of the oil storage tank, providing a mobile carrier for the entire closed-container cleaning robot. The telescopic cylinder 2 is vertically fixed at one end of the magnetic wall-climbing robot 1, and its telescopic end can move away from or near the inner wall of the oil storage tank.

[0077] The mounting bracket 3 is securely connected to the telescopic end of the telescopic cylinder 2. The telescopic cylinder 2 drives the mounting bracket 3 to move along a direction perpendicular to the inner wall of the oil storage tank through its own telescopic movement.

[0078] The cleaning device 4 is installed on the mounting frame 3 and is used to clean the residual oil stains on the inner wall of the oil storage tank. The telescopic cylinder 2 can adjust the vertical distance between the cleaning device 4 and the inner wall of the oil storage tank so that the cleaning device 4 can fit against the inner wall of the oil storage tank to meet the cleaning requirements of residual oil stains. At the same time, when the magnetic wall-climbing robot 1 walks along the inner wall of the oil storage tank, it drives the cleaning device 4 to move synchronously to complete the cleaning of residual oil stains on the inner wall of the oil storage tank.

[0079] Specifically, as shown in the attached document Figure 3 and 4 As shown, the cleaning device 4 includes a cleaning housing 4-1, a conical roller 4-2, a first redirecting roller 4-3, a second redirecting roller 4-4, a cleaning belt 4-5, a drive roller 4-6, a squeezing roller 4-7, and a drive motor 4-8.

[0080] The cleaning housing 4-1 is fixedly mounted on the mounting frame 3. The bottom of the cleaning housing 4-1 is an open structure, and the top has a horizontal mounting cavity. The two ends of the conical roller 4-2 are rotatably connected to the two side walls of the open bottom of the cleaning housing 4-1, and the axis of the conical roller 4-2 is set in the horizontal direction. The structure of the conical roller 4-2 is thick in the middle and thin at both ends, which enables the cleaning belt 4-5 to automatically center during movement and prevent the cleaning belt 4-5 from deviating. When the magnetic wall-climbing robot 1 moves vertically up and down along the inner wall of the oil tank, the conical roller 4-2 can also adapt to the arc-shaped inner wall of the oil tank. At the same time, the structure of the conical roller 4-2 can adapt well to the arc-shaped structure of the top and bottom of the oil tank. When the robot moves to the large curvature arc surface at the top or bottom of the oil tank, the smaller diameter parts at both ends of the conical roller will not interfere with or get stuck with the arc surface, while the larger diameter part in the middle can maintain effective contact with the arc surface, ensuring the fit between the cleaning belt 4-5 and the arc surface and avoiding cleaning blind spots.

[0081] It should be noted that the cleaning belt 4-5 has a certain degree of elasticity, which allows the cleaning belt 4-5 to be well adapted to the structure of the conical roller 4-2.

[0082] The two ends of the first redirecting roller 4-3 are rotatably connected to the two side walls of one end of the horizontal mounting cavity at the top of the cleaning housing 4-1, and the two ends of the second redirecting roller 4-4 are rotatably connected to the two side walls of the other end of the horizontal mounting cavity at the top of the cleaning housing 4-1. The axes of the first redirecting roller 4-3 and the second redirecting roller 4-4 are parallel to each other and are spaced apart in the horizontal direction.

[0083] The cleaning belt 4-5 is wrapped around the tapered roller 4-2, the first redirecting roller 4-3 and the second redirecting roller 4-4 in sequence to form a closed transmission circuit. An oil-absorbing cotton layer is fixedly provided on the outer surface of the cleaning belt 4-5. A water-proof layer is provided between the surface of the cleaning belt 4-5 and the oil-absorbing cotton layer to prevent oil from penetrating into the interior of the cleaning belt 4-5.

[0084] A drive roller 4-6 is positioned between the first redirecting roller 4-3 and the second redirecting roller 4-4. Both ends of the drive roller 4-6 are rotatably connected to the two side walls of the cleaning housing 4-1, and the axis of the drive roller 4-6 is parallel to the axis of the first redirecting roller 4-3. A squeeze roller 4-7 is positioned above the drive roller 4-6. Both ends of the squeeze roller 4-7 are rotatably connected to the two side walls of the cleaning housing 4-1. The squeeze roller 4-7 and the drive roller 4-6 rotate synchronously in opposite directions via a gear set. A cleaning belt 4-5 passes through the gap between the squeeze roller 4-7 and the drive roller 4-6.

[0085] The drive motor 4-8 is fixedly installed inside the cleaning housing 4-1, and its output end is connected to one end of the drive roller 4-6. The drive motor 4-8 drives the drive roller 4-6 to rotate, and the drive roller 4-6 drives the cleaning belt 4-5 to circulate along a closed transmission loop through friction. At the same time, it drives the squeezing roller 4-7 to rotate synchronously through a gear set. During the circulatory movement of the cleaning belt 4-5, the oil-absorbing cotton layer on its outer surface contacts the inner wall of the oil storage tank and absorbs residual oil. When the oil-absorbing cotton layer moves with the cleaning belt 4-5 to the gap between the squeezing roller 4-7 and the drive roller 4-6, the squeezing roller 4-7 and the drive roller 4-6 together apply squeezing force to the cleaning belt 4-5, squeezing out the oil absorbed inside the oil-absorbing cotton layer.

[0086] The cleaning device 4 continuously adsorbs residual oil stains on the inner wall of the oil storage tank through the cyclic movement of the cleaning belt 4-5. At the same time, the online self-cleaning of the cleaning belt 4-5 is achieved through the squeezing action of the squeezing roller 4-7 and the drive roller 4-6, eliminating the need for frequent replacement of the cleaning belt 4-5 and improving the continuous operation time and cleaning efficiency of the cleaning device 4.

[0087] The cleaning device 5 is installed on the magnetic wall-climbing robot 1. The cleaning device 5 can remove the oil stains attached to the surface of the cleaning device 4, so that the cleaning device 4 can maintain the ability to clean residual oil stains continuously. There is no need for manual entry into the sealed container to maintain the cleaning device 4, which improves the continuity and safety of the sealed container cleaning operation.

[0088] Specifically, as shown in the attached document Figure 3 and 4 As shown, the cleaning device 5 includes a steam generator 5-1, a cleaning hood 5-2, a partition 5-3, and a steam nozzle 5-4. The steam generator 5-1 is fixedly installed on the body of the magnetic wall-climbing robot 1 and is used to generate high-temperature steam. It is a mature device currently available on the market, so its structure and working principle will not be described in detail in this embodiment.

[0089] A cleaning hood 5-2 is fixedly installed within the horizontal mounting cavity of the cleaning housing 4-1. The cleaning hood 5-2 is located on one side of the extrusion roller 4-7, with its opening facing the surface of the cleaning belt 4-5. A partition 5-3 is fixedly installed inside the cleaning hood 5-2, dividing its internal space into two independent chambers. One chamber is a negative pressure chamber, connected to an external negative pressure suction device via a flexible negative pressure pipeline. The other chamber is a steam chamber. A steam nozzle 5-4 is fixedly installed within the steam chamber of the cleaning hood 5-2. The steam inlet of the steam nozzle 5-4 is connected to the steam outlet of the steam generator 5-1 via a flexible steam hose. The spray nozzle of the steam nozzle 5-4 faces the surface of the cleaning belt 4-5 and the oil residue extruded by the extrusion roller 4-7 and drive roller 4-6. Multiple steam nozzles 5-4 can be spaced apart along the width of the cleaning belt 4-5.

[0090] When the cleaning device 5 is working, the high-temperature steam generated by the steam generator 5-1 is delivered to the steam nozzle 5-4 through a flexible steam hose. The steam nozzle 5-4 sprays high-temperature steam onto the surface of the cleaning belt 4-5 and the oil sludge squeezed out from the extrusion gap. The high-temperature steam softens the stubborn oil sludge remaining in the oil-absorbing cotton layer of the cleaning belt 4-5 and disperses the squeezed-out oil sludge. At the same time, the external negative pressure suction device creates a negative pressure environment in the negative pressure chamber of the cleaning hood 5-2 through a flexible negative pressure pipeline. The negative pressure chamber sucks the softened residual oil sludge, the dispersed oil sludge, and the steam condensate together into the external collection device.

[0091] The cleaning device 5 works in conjunction with the squeezing structure of the cleaning device 4. First, it removes most of the oil stains from the oil-absorbing cotton layer through mechanical squeezing. Then, it removes the remaining stubborn oil stains through high-temperature steam. Finally, it completes the centralized collection of oil stains and condensate through negative pressure suction. This can further improve the cleaning effect of the cleaning belt 4-5 and extend the continuous use time of the cleaning belt 4-5. At the same time, the cleaning cover 5-2 is integrated into the horizontal mounting cavity of the cleaning housing 4-1. It can automatically correspond to the movement trajectory of the cleaning belt 4-5 and can prevent steam and oil stains from spreading to the outside of the cleaning housing 4-1, thus avoiding contamination of other parts of the magnetic wall-climbing robot 1.

[0092] In use, the sealed container cleaning robot is placed inside the oil tank. The magnetic wall-climbing robot 1 adheres to the inner wall of the oil tank and moves along a preset path. The telescopic cylinder 2 extends, driving the mounting frame 3 to move towards the inner wall of the oil tank, so that the cleaning belt 4-5 of the cleaning device 4 fits against the inner wall of the oil tank. The drive motor 4-8 starts, driving the drive roller 4-6 to rotate. The drive roller 4-6 drives the cleaning belt 4-5 to circulate along a closed transmission loop through friction. The oil-absorbing cotton layer on the outer surface of the cleaning belt 4-5 absorbs the residual oil on the inner wall of the oil tank. When the oil-absorbing cotton layer moves with the cleaning belt 4-5 to the gap between the squeezing roller 4-7 and the drive roller 4-6, the squeezing roller 4-7 and the drive roller 4-6 rotate synchronously in opposite directions, applying squeezing force to the cleaning belt 4-5 and squeezing out most of the oil inside the oil-absorbing cotton layer. Simultaneously, the steam generator 5-1 generates high-temperature steam and delivers it to the steam nozzle 5-4. The steam nozzle 5-4 sprays high-temperature steam onto the surface of the cleaning belt 4-5 and the squeezed-out oil, softening the stubborn residual oil and dispersing the squeezed-out oil. The external negative pressure suction device uses the negative pressure chamber of the cleaning hood 5-2 to suck the softened residual oil, the dispersed oil, and the steam condensate together to the external collection device. The magnetic wall-climbing robot 1 moves spirally up and down or reciprocates vertically along the axis of the oil storage tank, driving the cleaning device 4 to move synchronously, and sequentially completing the comprehensive cleaning of the inner wall, top, and bottom arc surfaces of the oil storage tank. After cleaning, the telescopic cylinder 2 retracts, driving the cleaning device 4 away from the inner wall of the oil storage tank. The magnetic wall-climbing robot 1 moves to the entrance of the oil storage tank to complete the cleaning of the residual oil on the inner wall of the oil storage tank.

[0093] In addition, a camera 8 is installed on the mounting frame 3 to monitor the cleaning operation in real time. Furthermore, the camera 8 adopts a commercially available visual detection camera, which integrates infrared illumination and AI image recognition modules to adapt to the low-light, sealed environment inside the tank. The camera (8) collects image data in real time: first, the image of the inner wall oil stains before cleaning, and identifies the distribution and thickness of the oil stains through the edge detection algorithm, generates path planning parameters, and automatically adjusts the walking speed of the magnetic wall-climbing robot (1) and the extension amount of the telescopic cylinder (2); second, the image of the inner wall after cleaning, compares the grayscale difference before and after cleaning, detects residual oil stains and marks blind areas, and controls the robot to return to clean.

[0094] Example 2:

[0095] Combined with appendix Figures 1-3 5. A closed container cleaning robot, differing from Embodiment 1 in that, based on Embodiment 1, an elastic toothed scraper 4-9 is installed on the bottom front side of the cleaning shell 4-1 corresponding to the walking direction of the magnetic wall-climbing robot 1. The elastic toothed scraper 4-9 has a toothed structure at its bottom. The elastic toothed scraper 4-9, through its toothed structure, can scrape the oil stains on the inner wall of the oil storage tank into multiple raised oil stain bands, facilitating the wiping and adsorption of oil stains by the cleaning belt 4-5.

[0096] During operation, the flexible toothed scraper 4-9 moves synchronously with the cleaning housing 4-1. The toothed structure at its bottom contacts the inner wall of the oil storage tank before the cleaning belt 4-5, scraping the oil on the inner wall into multiple parallel raised oil stains, breaking the bonding force between the oil stains and the inner wall, so that the cleaning belt 4-5 can more efficiently absorb the oil stains. The flexible toothed scraper 4-9 itself is elastic and can adapt to the curvature of the inner wall of the oil storage tank to ensure that the toothed structure always maintains contact with the inner wall.

[0097] Furthermore, the cleaning device 4 also includes tension rollers 4-10 and two sets of adjusting devices 7, as shown in the attached figure. Figure 3 As shown, the tension roller 4-10 is installed inside the cleaning housing 4-1, and two sets of adjustment devices 7 are installed on both sides outside the cleaning housing 4-1 to adjust the position of the tension roller 4-10.

[0098] Specifically, as shown in the attached document Figure 5 As shown, the adjusting device 7 includes a slide rail 7-1, a slider 7-2, a fixed seat 7-3, and an adjusting rod 7-4. The slide rail 7-1 is fixedly installed on the outer wall of the cleaning housing 4-1. A strip-shaped slot is formed on the cleaning housing 4-1 corresponding to the position of the slide rail 7-1. The length direction of the strip-shaped slot is consistent with the adjusting direction of the tension roller 4-10. Both ends of the roller shaft of the tension roller 4-10 extend movably out of the strip-shaped slots on both sides of the cleaning housing 4-1. The slider 7-2 is slidably engaged with the corresponding side of the slide rail 7-1, and the end of the roller shaft of the tension roller 4-10 is rotatably connected to the slider 7-2. The fixed seat 7-3 is fixedly installed on the outer wall of the cleaning housing 4-1 and located at one end of the slide rail 7-1. One end of the adjusting rod 7-4 is rotatably connected to the slider 7-2, and the other end passes through the fixed seat 7-3 and is threadedly connected to the fixed seat 7-3.

[0099] When the adjusting rod 7-4 is rotated, the adjusting rod 7-4 moves along its own axis through the threaded engagement with the fixed seat 7-3, thereby driving the slider 7-2 to slide along the slide rail 7-1. The slider 7-2 drives the tension roller 4-10 to move along the length of the strip groove, thereby changing the contact pressure between the tension roller 4-10 and the cleaning belt 4-5, and realizing the adjustment of the tension of the cleaning belt 4-5. The tension roller 4-10 ensures that the cleaning belt 4-5 maintains appropriate tension at all times, preventing slippage and transmission failure due to loosening of the cleaning belt 4-5 over long-term use. Simultaneously, it works with the tapered roller 4-2 to further suppress belt deviation, ensuring the stability of the cleaning belt 4-5 transmission. Two sets of adjustment devices 7 are respectively located on both sides of the cleaning housing 4-1, enabling simultaneous adjustment of the positions of both ends of the tension roller 4-10. This ensures that the axis of the tension roller 4-10 is perpendicular to the direction of movement of the cleaning belt 4-5, preventing uneven tension and unilateral belt deviation. The threaded adjustment method allows for continuous tension adjustment, and after adjustment, the tension roller 4-10 maintains a stable position through thread self-locking, eliminating the need for an additional locking structure. The adjusting rod 7-4 has locking nuts 7-5 threadedly connected to both sides of the fixed base 7-3, locking the adjusting rod 7-4 in place after adjustment.

[0100] In use, first rotate the adjusting rods 7-4 of the two adjusting devices 7 to drive the slider 7-2 to slide along the slide rail 7-1, thereby driving the tension roller 4-10 to move to a suitable position, so that the cleaning belt 4-5 maintains a suitable tension, and tighten the locking nut 7-5 to lock the position of the adjusting rod 7-4; then start the equipment according to the operation process of Example 1, the magnetic wall-climbing robot 1 drives the cleaning device 4 to walk along the inner wall of the oil tank, the elastic toothed scraper 4-9 first scrapes the oil on the inner wall into raised oil stains, and the subsequent cleaning belt 4-5 sequentially absorbs the oil stains in each raised oil stain.

[0101] Example 3:

[0102] Combined with appendix Figures 1-2A closed container cleaning robot, based on Embodiment 1 or 2, includes a telescopic hose 6 installed between the cleaning device 5 and the cleaning device 4. Both a flexible negative pressure pipeline and a flexible steam hose are housed within the telescopic hose 6. One end of the telescopic hose 6 is securely connected to the body of the magnetic wall-climbing robot 1, and the other end is securely connected to the cleaning housing 4-1. Sufficient extension and retraction allowance is provided for both the internal flexible negative pressure pipeline and the flexible steam hose. The telescopic hose 6 extends and retracts synchronously with the extension and retraction of the telescopic cylinder 2, providing protection and guidance for the internal flexible negative pressure pipeline and flexible steam hose. This prevents the pipeline from tangling, being pulled, or rubbing against other components during extension and retraction, thus extending the service life of the pipeline. Simultaneously, the telescopic hose 6 can house the pipeline internally, preventing it from being exposed and affecting the robot's movement and operation, and also preventing oil stains from adhering to the pipeline surface and causing pollution and corrosion.

[0103] The cleaning hood 5-2 is equipped with a scraper 5-5 that corresponds to and contacts the extrusion roller 4-7. The scraper 5-5 continuously cleans the surface of the extrusion roller 4-7. The scraper 5-5 is fixedly installed on the inner wall of the cleaning hood 5-2, and the cutting edge of the scraper 5-5 is in close contact with the surface of the extrusion roller 4-7. The length of the scraper 5-5 is the same as the length of the surface of the extrusion roller 4-7. During operation, the extrusion roller 4-7 rotates, and the scraper 5-5 continuously scrapes off the oil and impurities adhering to the surface of the extrusion roller 4-7, preventing the oil from adhering to the surface of the extrusion roller 4-7. The scraped oil and impurities fall directly into the interior of the cleaning hood 5-2 and are collected to the outside by negative pressure suction, avoiding secondary pollution caused by oil dripping onto the cleaning belt 4-5 or the interior of the cleaning housing 4-1.

[0104] Example 4:

[0105] Combined with appendix Figure 1 , 6 ~9, a closed container cleaning robot, based on any one of embodiments one to three, wherein the magnetic wall-climbing robot 1 includes a robot housing 1-1, a magnetic drive wheel assembly, and a magnetic driven wheel assembly. The robot housing 1-1 provides a mounting base for other components of the magnetic wall-climbing robot 1, the magnetic drive wheel assembly is rotatably mounted at one end of the bottom of the robot housing 1-1, and the magnetic driven wheel assembly is rotatably mounted at the other end of the bottom of the robot housing 1-1.

[0106] As attached Figures 6-8As shown, the magnetically attached active wheel assembly includes a first wheel frame 1-2, a right-angle dual-output transmission box 1-3, two drive wheels 1-4, a walking motor 1-5, a steering motor 1-6, and a first permanent magnet 1-7. The top of the first wheel frame 1-2 is rotatably connected to the robot housing 1-1. The right-angle dual-output transmission box 1-3 is fixedly installed at the bottom of the first wheel frame 1-2. The two drive wheels 1-4 are respectively fixedly installed on the two horizontal output shafts of the right-angle dual-output transmission box 1-3. The walking motor 1-5 is fixedly installed inside the robot housing 1-1, and its output end is connected to the vertical input end of the right-angle dual-output transmission box 1-3. The steering motor 1-6 is fixedly installed inside the robot housing 1-1, and its output end is connected to the top rotating shaft of the first wheel frame 1-2. The first permanent magnet 1-7 is fixedly installed at the bottom of the right-angle dual-output transmission box 1-3.

[0107] The magnetic driven wheel assembly has two structures, as shown in the attached diagram. Figure 9 As shown, the first structure includes a second wheel frame 1-8, two driven wheels 1-9, and a second permanent magnet 1-10. The top of the second wheel frame 1-8 is fastened to the robot housing 1-1. The two driven wheels 1-9 are rotatably mounted on both sides of the bottom of the second wheel frame 1-8, and the second permanent magnet 1-10 is fixedly mounted on the bottom of the second wheel frame 1-8 and located between the two driven wheels 1-9.

[0108] When walking, the walking motor 1-5 converts the vertical power into the horizontal power through the right-angle double-outlet transmission box 1-3, and at the same time drives the two drive wheels 1-4 to rotate synchronously, providing walking power for the magnetic wall-climbing robot 1; the right-angle double-outlet transmission box 1-3 can realize the synchronous rotation of the two drive wheels 1-4, ensuring the straightness during walking and avoiding the problem of slipping on one side.

[0109] When turning, the steering motor 1-6 drives the first wheel frame 1-2 to rotate around its own top pivot, thus achieving the purpose of turning. The first permanent magnet 1-7 and the second permanent magnet 1-10 generate magnetic attraction forces, which enable the drive wheel 1-4 and the driven wheel 1-9 to stick tightly to the metal inner wall of the oil tank, ensuring that the magnetic wall-climbing robot 1 can walk stably on the inner wall at different angles such as vertical and inclined.

[0110] The second structure of the magnetically attached driven wheel assembly differs from the first structure in that the top of the second wheel frame 1-8 is rotatably connected to the robot housing 1-1, and the top shaft of the second wheel frame 1-8 is connected to the top shaft of the first wheel frame 1-2 in the same direction via a synchronous belt. The steering motor 1-6 drives the first wheel frame 1-2 to rotate around its own top shaft, and the first wheel frame 1-2 drives the second wheel frame 1-8 to rotate synchronously via the synchronous belt, achieving a crab-like walking mode.

[0111] The crab-like walking mode enables the magnetic wall-climbing robot 1 to walk in a straight line along the inner wall of the oil storage tank, either horizontally or vertically. It can change its walking direction without turning on the spot, avoiding the scratch damage to the inner wall of the oil storage tank caused by turning on the spot, while improving the continuity of walking and cleaning operations.

[0112] In use, the first permanent magnet 1-7 and the second permanent magnet 1-10 generate magnetic attraction, causing the drive wheel 1-4 and the driven wheel 1-9 to adhere tightly to the inner metal wall of the oil tank. The walking motor 1-5 drives the two drive wheels 1-4 to rotate synchronously through the right-angle double-outlet transmission box 1-3, driving the magnetic wall-climbing robot 1 to walk in a preset direction. When lateral movement is required, the steering motor 1-6 drives the first wheel frame 1-2 to rotate and adjust the direction. If the second structure of the magnetic driven wheel set is adopted, the first wheel frame 1-2 drives the second wheel frame 1-8 to rotate synchronously by 90 degrees through the synchronous belt, so that the axes of the drive wheel 1-4 and the driven wheel 1-9 are parallel to the axis of the oil tank. At this time, the walking motor 1-5 drives the robot to walk in a straight line laterally along the inner wall of the oil tank, realizing the crab-shaped walking mode. During the cleaning operation, the longitudinal walking and crab-shaped lateral walking modes can be flexibly switched according to the distribution of the cleaning area on the inner wall of the oil tank. The robot can complete the cleaning operation in different directions without turning in place, improving the cleaning efficiency and the continuity of the operation.

[0113] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes falling within the meaning and scope of equivalents within this invention.

Claims

1. A closed container cleaning robot, characterized in that, include: A magnetic wall-climbing robot (1) is able to walk along the inner wall of an oil storage tank; Telescopic cylinder (2) is vertically installed at one end of magnetic wall-climbing robot (1); Mounting bracket (3) is fastened to the telescopic end of telescopic cylinder (2); The cleaning device (4) is installed on the mounting bracket (3) and is used to clean the residual oil stains on the inner wall of the oil storage tank; The cleaning device (5) is installed on the magnetic wall-climbing robot (1); the cleaning device (4) is cleaned by the cleaning device (5) so that the cleaning device (4) can maintain the ability to clean residual oil stains continuously.

2. The closed container cleaning robot as described in claim 1, characterized in that, The cleaning device (4) includes: Clean the housing (4-1), install it on the mounting bracket (3), with an open bottom and a horizontal mounting cavity at the top; A conical roller (4-2) is rotatably installed at the bottom opening of the cleaning housing (4-1); The first redirecting roller (4-3) is rotatably mounted at one end of the horizontal mounting cavity of the cleaning housing (4-1); The second redirecting roller (4-4) is rotatably mounted at the other end of the horizontal mounting cavity of the cleaning housing (4-1); The cleaning belt (4-5) is wrapped around the tapered roller (4-2), the first deflector roller (4-3), and the second deflector roller (4-4). The surface of the cleaning belt (4-5) is provided with an oil-absorbing cotton layer. A drive roller (4-6) is rotatably mounted between a first redirecting roller (4-3) and a second redirecting roller (4-4), and both ends of the drive roller (4-6) are rotatably connected to the cleaning housing (4-1); The extrusion roller (4-7) is rotatably mounted above the drive roller (4-6); the extrusion roller (4-7) and the drive roller (4-6) are synchronously connected and squeeze the cleaning belt (4-5) together to squeeze out the oil stains absorbed by the oil-absorbing cotton layer. The drive motor (4-8) is installed inside the cleaning housing (4-1), and the output end of the drive motor (4-8) is connected to the drive roller (4-6) for transmission. The elastic toothed scraper (4-9) is installed on the bottom front side of the cleaning housing (4-1) corresponding to the walking direction of the magnetic wall-climbing robot (1). The bottom of the elastic toothed scraper (4-9) is provided with a toothed structure.

3. The closed container cleaning robot as described in claim 1, characterized in that, The cleaning device (4) further includes a tension roller (4-10) installed inside the cleaning housing (4-1), and an adjusting device (7) for adjusting the position of the tension roller (4-10); there are two adjusting devices (7), which are respectively installed on both sides of the cleaning housing (4-1); the adjusting device (7) includes: The slide rail (7-1) is installed on the cleaning housing (4-1), and the cleaning housing (4-1) is provided with a strip groove corresponding to the slide rail (7-1); the roller shaft of the tension roller (4-10) extends movably out of the strip groove; The slider (7-2) is slidably engaged with the slide rail (7-1), and the roller shaft of the tension roller (4-10) is rotatably connected to the slider (7-2); The mounting base (7-3) is installed on the cleaning housing (4-1); The adjusting rod (7-4) is rotatably connected to the slider (7-2) at one end and passes through the fixed seat (7-3) at the other end, and is threadedly connected to the fixed seat (7-3).

4. The closed container cleaning robot as described in claim 3, characterized in that, The adjusting rod (7-4) has locking nuts (7-5) threadedly connected to both sides of the fixed seat (7-3).

5. The closed container cleaning robot as described in claim 2, characterized in that, The cleaning device (5) includes: A steam generator (5-1) is installed on a magnetic wall-climbing robot (1); The cleaning hood (5-2) is installed in the horizontal mounting cavity of the cleaning housing (4-1), and the cleaning hood (5-2) is located on one side of the extrusion roller (4-7); A partition (5-3) is installed inside the cleaning hood (5-2) to divide the cleaning hood (5-2) into two chambers, one of which is a negative pressure chamber, which is connected to an external negative pressure suction device through a flexible negative pressure pipeline, and the other is a steam chamber. The steam nozzle (5-4) is installed in the steam chamber of the cleaning hood (5-2). The steam nozzle (5-4) is connected to the steam outlet end of the steam generator (5-1) through a hose. The steam nozzle (5-4) sprays high-temperature steam toward the surface of the cleaning belt (4-5) and the oil sludge squeezed out by the squeezing roller (4-7) and the drive roller (4-6).

6. The closed container cleaning robot as described in claim 5, characterized in that, A flexible hose (6) is installed between the cleaning device (5) and the cleaning device (4), and the flexible negative pressure pipeline and the steam hose are both installed inside the flexible hose (6).

7. The closed container cleaning robot as described in claim 5, characterized in that, The cleaning cover (5-2) is provided with a scraper (5-5) that corresponds to and contacts the squeezing roller (4-7).

8. The closed container cleaning robot as described in claim 1, characterized in that, The magnetic wall-climbing robot (1) includes: Robot shell (1-1); A magnetic drive wheel assembly is rotatably mounted on one end of the bottom of the robot housing (1-1); The magnetic driven wheel assembly is rotated and installed at the other end of the bottom of the robot housing (1-1); the magnetic driven wheel assembly is connected to the magnetic driven wheel assembly through transmission, and the magnetic driven wheel assembly drives the magnetic driven wheel assembly to turn synchronously through the magnetic active wheel assembly, so as to realize the crab-shaped walking mode.

9. The closed container cleaning robot as described in claim 8, characterized in that, The magnetic drive wheel assembly includes: The first wheel frame (1-2) is rotatably connected to the top of the robot shell (1-1); A right-angle double-outlet transmission box (1-3) is installed at the bottom of the first wheel frame (1-2); The drive wheels (1-4) are two in number and are respectively mounted on the two output shafts of the right-angle double-outlet transmission box (1-3); The walking motor (1-5) is installed inside the robot housing (1-1), and the output end of the walking motor (1-5) is connected to the input end of the right-angle double-outlet transmission box (1-3). Steering motor (1-6), installed inside robot housing (1-1), is used to drive the first wheel frame (1-2) to steer; The first permanent magnet (1-7) is installed at the bottom of the right-angle double-outlet transmission box (1-3).

10. The closed container cleaning robot as described in claim 9, characterized in that, The magnetically driven wheel assembly includes two structures; The first structure includes: The second wheel frame (1-8) is securely connected at the top to the robot housing (1-1); Driven wheels (1-9), there are two of them, which are rotatably installed on both sides of the bottom of the second wheel frame (1-8); The second permanent magnet (1-10) is installed at the bottom of the second wheel frame (1-8) and located between the two driven wheels (1-9); The second type of structure includes: The second wheel frame (1-8) is rotatably connected to the robot shell (1-1) at the top, and the second wheel frame (1-8) is connected to the first wheel frame (1-2) via a synchronous belt. Driven wheels (1-9), there are two of them, which are rotatably installed on both sides of the bottom of the second wheel frame (1-8); The second permanent magnet (1-10) is installed at the bottom of the second wheel frame (1-8) and located between the two driven wheels (1-9).

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