A rail-mounted tank cleaning robot

Abstract

The application relates to a rail type tank cleaning robot, which comprises a control cabinet, a cleaning trolley and a trolley, and a track is laid in the tank; the cleaning trolley comprises a first motor, a first gear set, a driving roller, an auxiliary roller, a three-dimensional rotary nozzle and a lifting tension roller, the driving roller is placed above the track, the tension roller is placed below the track, the tension roller cooperates with the driving roller to make the cleaning trolley closely adhere to the track, the auxiliary roller is arranged on both sides of the track, and the first motor drives the driving roller through the first gear set; the control cabinet comprises a water tank, a high-pressure pump assembly, a pipe winder assembly and a pipe winding driving assembly, a pipe is wound in the pipe winder assembly, the pipe is driven by the pipe winding driving assembly, water in the water tank is delivered into the pipe by the high-pressure pump assembly, and the pipe is communicated with the three-dimensional rotary nozzle. The cleaning trolley moves along the track, and the cleaning trolley cooperates with the three-dimensional rotary nozzle to realize multi-angle and omnibearing jet coverage.

Description

Technical Field

[0001] This application relates to the field of tank cleaning technology, and in particular to a track-mounted tank cleaning robot. Background Technology

[0002] With the continuous development of industrial production, large tanks are widely used in many industries such as chemical, energy, and food. my country's petroleum, chemical, and food industries have more than one million large storage tanks, and their internal cleaning operations are a crucial link in ensuring production safety, product quality, and environmental compliance. Traditional manual cleaning requires personnel to enter confined spaces, facing high risks such as poisoning, suffocation, and explosion, and cannot meet the needs of modern industry for efficient, safe, and intelligent operations.

[0003] Referring to Chinese Patent CN109909246A, entitled "A Fermentation Tank Cleaning Machine for Microbial Applications," the invention includes a workbench, wheels, a control mechanism, a water storage tank, an inlet, a cover, a pumping mechanism, a lifting mechanism, a spray pipe, an angle adjustment mechanism, a cleaning mechanism, a support frame, and a mounting base. The mounting base is installed on the front and rear sides of the workbench. This invention achieves the effects of facilitating worker operation, reducing worker labor intensity, facilitating fermentation tank cleaning, effectively cleaning the inner wall of the fermentation tank, and being able to clean different fermentation tanks.

[0004] The aforementioned cleaning machines consume a whole tank of cleaning fluid as the cleaning medium, leading to a waste of resources and costs. Furthermore, the ultrasonic energy bar, as the power source for cleaning, struggles to penetrate deep into the fermentation tank. For fermentation tanks with large internal spaces, energy transmission is significantly weakened, resulting in poor cleaning performance. Additionally, the angle adjustment mechanism only supports tilting within a single plane, lacking multi-axis linkage capabilities and unable to adapt to asymmetrical access holes or complex baffle structures within the tank, making it difficult to accurately target highly contaminated areas with the water spray pipe.

[0005] Therefore, we propose a track-mounted tank cleaning robot.

[0006] Application content To address the shortcomings of existing production technologies, the applicant provides a track-mounted tank cleaning robot. The cleaning trolley is equipped with a three-dimensional rotating nozzle. The cleaning trolley moves along the track, and the cleaning trolley and the three-dimensional rotating nozzle work together to achieve multi-angle and all-round spray coverage. It can better adapt to the complex structures inside large tanks, such as asymmetrical access holes, ladders, and baffles, and achieve effective cleaning of tank walls, tops, and deep blind areas, significantly improving the cleaning effect.

[0007] The technical solution adopted in this application is as follows: A track-mounted tank cleaning robot includes: The control cabinet is located outside the tank, while tracks are laid inside the tank. The cleaning trolley is placed on the track inside the tank; The cleaning trolley includes a first motor, a first gear set, a drive roller, an auxiliary roller, a three-dimensional rotating nozzle, and a tensioning roller that can be raised and lowered. The drive roller is placed above the track, and the tensioning roller is placed below the track. The tensioning roller and the drive roller work together to make the cleaning trolley fit tightly against the track. The auxiliary rollers are set on both sides of the track. The first motor drives the drive roller through the first gear set. The control cabinet includes a water tank, a high-pressure pump assembly, a hose reel assembly, and a hose reel drive assembly. The hose reel assembly contains a hose wound inside. The hose reel drive assembly drives the hose. The high-pressure pump assembly delivers water from the water tank into the hose. The hose is connected to a three-dimensional rotating nozzle.

[0008] Its further features are: It also includes multiple accompanying trolleys, each trolley consisting of a trolley body with a pipe channel for placing the reel and a buckle for securing the reel. Auxiliary driven wheels are located on both sides of the bottom of the trolley body. Multiple accompanying trolleys are fixed to the reel at intervals, and then the accompanying trolleys are placed on a track with the auxiliary driven wheels on both sides of the track.

[0009] The water tank is equipped with an inlet, a return outlet, an overflow outlet, a drain outlet, and a medicine outlet.

[0010] The water distribution valve assembly includes a dosing device that is connected to the water inlet via a water pipe.

[0011] The high-pressure pump assembly includes a cleaning pump, a first rigid pipe, and a second rigid pipe. The inlet of the cleaning pump is connected to the outlet of the water tank through the first rigid pipe, and the outlet of the cleaning pump is connected to the second rigid pipe.

[0012] The hose reel assembly also includes a hose reel and a third rigid tube, the third rigid tube being connected to the second rigid tube, the hose being wound around the hose reel, and the third rigid tube being connected to the hose reel.

[0013] The tube winding drive assembly includes a second motor, a second gear set, a driving roller set, a driven roller set, and an elastic pressing member. The second motor drives the driving roller set through the second gear set. The driven roller set is positioned above the driving roller set. The tube winding is positioned between the driving roller set and the driven roller set. The top of the driven roller set is connected to the elastic pressing member. The elastic pressing member presses the driven roller set downwards, causing the driving roller set and the driven roller set to clamp the tube winding.

[0014] The cleaning trolley also includes a connecting frame, with the first motor and the three-dimensional rotating nozzle fixed on one side of the connecting frame, the active rollers rotating inside the connecting frame, and the auxiliary rollers rotating on both sides of the bottom of the connecting frame.

[0015] The top of the connecting frame is equipped with a pressure handle cover, inside which is a rotatable eccentric wheel. Eccentric shafts are provided on both sides of the eccentric wheel. The tension wheel is rotatably mounted on one side of the tension wheel frame. A tension wheel guide rod is fixed on the tension wheel frame and movably passes through the connecting frame. A guide post pressure plate is provided on the top of the tension wheel guide rod. A groove is provided on the top of the guide post pressure plate, and the eccentric shaft is rotatably mounted in the groove. A second spring is sleeved between the tension wheel guide rod and the guide post pressure plate and the connecting frame.

[0016] A handle is fixed to the eccentric wheel, and an adjustment channel is provided on the pressure handle cover. The handle includes a connecting rod that passes through the adjustment channel. A sleeve is provided on the connecting rod outside the adjustment channel. A stop block is provided at one end of the connecting rod inside the sleeve. A first spring is provided inside the connecting rod inside the sleeve. Moving the handle along the adjustment channel can drive the eccentric wheel to rotate.

[0017] The beneficial effects of this application are as follows: This application features a compact and reasonable structure, convenient operation, and a three-dimensional rotating nozzle mounted on the cleaning trolley. The cleaning trolley moves along the track, and the cleaning trolley and the three-dimensional rotating nozzle work together to achieve multi-angle and all-round spray coverage. It can better adapt to the complex structures inside large tanks, such as asymmetrical access holes, ladders, and baffles, and achieve effective cleaning of tank walls, tops, and deep blind areas, significantly improving the cleaning effect.

[0018] In addition, this application also has the following advantages: (1) A traveling trolley is placed every certain distance the cleaning trolley travels, ensuring that the hose reel stays close to the track. This effectively solves the problems of hose tangling, deviation, and wear, and ensures high reliability. A traveling trolley is introduced that is placed manually in sections. The traveling trolley is fixed to the hose reel with a buckle, and the auxiliary driven wheel is in contact with the side of the track, providing stable support and guidance for the hose reel. This ensures that the hose reel always maintains a consistent trajectory with the track, fundamentally avoiding problems such as knotting, detachment, excessive bending, and wear caused by the hose reel's own weight, twisting, or scraping against obstacles in the complex tank environment. This ensures the continuity of the cleaning operation and the lifespan of the equipment.

[0019] (2) When only clean water is needed for cleaning, clean water is introduced into the water tank through the inlet, and the dosing device does not work. When clean water and chemical solution need to be mixed for cleaning, clean water is introduced into the water tank through the inlet; the dosing device works, the dosing device's chemical pipe is connected to the external chemical storage tank, and the dosing device delivers the chemical solution to the water tank through the chemical solution pipeline. According to the cleaning process requirements, different modes such as clean water rinsing and chemical cleaning can be switched, which greatly saves the amount of water and chemical agents used and reduces operating costs.

[0020] (3) Achieve precise walking and positioning, significantly improving safety and efficiency; Through the coordinated action of the first motor, the first gear set, the active roller, the auxiliary roller and the tensioning structure, the cleaning trolley can automatically move and retreat along the preset track, replacing the traditional high-risk operation mode of manual entry into the tank, completely avoiding safety hazards such as personnel poisoning and suffocation, while the cleaning path is standardized and uniform, and the cleaning efficiency is higher.

[0021] (4) The reel drive assembly provides active and controllable mechanical power for the reeling and release of the reel, which works in conjunction with the movement of the cleaning trolley, reducing the burden of manually dragging the pipeline and avoiding problems such as reel accumulation and jamming caused by insufficient reeling power. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the control cabinet and cleaning trolley of this application.

[0023] Figure 2 This is a schematic diagram of the water tank and water distribution valve assembly of this application.

[0024] Figure 3 This is a schematic diagram of the water tank, high-pressure pump assembly, and hose reel assembly of this application.

[0025] Figure 4 This is a schematic diagram of the hose reel assembly and hose reel drive assembly of this application.

[0026] Figure 5 This is a schematic diagram of the tube drive assembly of this application after removing one side plate.

[0027] Figure 6 This is a schematic diagram of the cleaning cart used in this application. Figure 1 .

[0028] Figure 7 This is a schematic diagram of the cleaning cart used in this application. Figure 2 .

[0029] Figure 8 This is a schematic diagram of the eccentric wheel, eccentric shaft, and handle of this application.

[0030] Figure 9 This is a schematic diagram of the accompanying vehicle in this application.

[0031] Figure 10 This is a schematic diagram of the accompanying trolley and the reel tube after they are fixed together.

[0032] The components include: 1. Control cabinet; 2. Cleaning trolley; 3. Accompanying trolley. 101. Water tank; 102. Water distribution valve assembly; 103. High-pressure pump assembly; 104. Hose reel assembly; 105. Hose reel drive assembly; 201. First motor; 202. First gear set; 203. Drive roller; 204. Connecting frame; 205. Auxiliary roller; 206. Pressure handle cover; 207. Eccentric wheel; 208. Handle; 209. Eccentric shaft; 210. Tensioner frame; 211. Tensioner; 212. Tensioner guide rod; 213. Guide post pressure plate; 214. Three-dimensional rotating nozzle; 301. Cart body; 302. Buckle; 303. Pipeline channel; 304. Auxiliary driven wheel; 1011. Inlet; 1012. Outlet; 1013. Overflow outlet; 1014. Chemical inlet; 1015. Outlet; 1016. Drain outlet; 1021. Dosing device; 1024. Chemical pipeline; 1031. Cleaning pump; 1032. First rigid pipe; 1033. Second rigid pipe; 1041. Pipe reel; 1042. Pipe reel; 1043. Third rigid pipe; 1051. Second motor; 1052. Second gear set; 1053. Driving roller set; 1054. Driven roller set; 1055. Elastic pressing component. Detailed Implementation

[0033] The specific embodiments of this application are described below with reference to the accompanying drawings.

[0034] like Figures 1-10 As shown, a track-type tank cleaning robot includes a control cabinet 1, a cleaning trolley 2, and a following trolley 3.

[0035] The control cabinet 1 includes a water tank 101, a water distribution valve assembly 102, a high-pressure pump assembly 103, a hose reel assembly 104, and a hose reel drive assembly 105.

[0036] The water tank 101 is provided with an inlet 1011, a return outlet 1012, an overflow outlet 1013, an outlet 1015 and a drain outlet 1016. The water tank 101 is also provided with a medicine outlet 1014. Water is supplied to the water tank 101 through the inlet 1011. The overflow port 1013 is used to prevent water from overflowing from the water tank 101. The return port 1012 can input the cleaned water into the water tank 101, which can save water resources during the circulating cleaning process.

[0037] The water distribution valve assembly 102 includes a dosing device 1021.

[0038] When only clean water is needed for cleaning, clean water is introduced into the water tank 101 through the water inlet 1011, and the dosing device 1021 does not work.

[0039] When it is necessary to mix clean water and medicine for cleaning, clean water is introduced into water tank 101 through water inlet 1011; medicine dosing device 1021 is working, the medicine pipe of medicine dosing device 1021 is connected to external medicine storage tank, and medicine dosing device 1021 delivers medicine into water tank 101 through medicine pipe 1024.

[0040] The high-pressure pump assembly 103 includes a cleaning pump 1031, a first rigid pipe 1032, and a second rigid pipe 1033. The inlet of the cleaning pump 1031 is connected to the outlet 1015 through the first rigid pipe 1032, and the outlet of the cleaning pump 1031 is connected to the second rigid pipe 1033.

[0041] The hose reel assembly 104 includes a hose reel 1041, a hose 1042, and a third rigid hose 1043. The third rigid hose 1043 is in communication with the second rigid hose 1033. The hose 1042 is wound around the hose reel 1041, and the third rigid hose 1043 is in communication with the hose 1042.

[0042] The tube winding drive assembly 105 is used to drive the tube winding 1042. The tube winding drive assembly 105 includes a second motor 1051, a second gear set 1052, a driving roller set 1053, a driven roller set 1054, and an elastic pressing member 1055.

[0043] The second motor 1051 drives the active roller assembly 1053 via the second gear set 1052. The driven roller assembly 1054 is positioned above the active roller assembly 1053. The winding tube 1042 is positioned between the active roller assembly 1053 and the driven roller assembly 1054. The top of the driven roller assembly 1054 is connected to the elastic pressing member 1055. The elastic pressing member 1055 presses the driven roller assembly 1054 downward, causing the active roller assembly 1053 and the driven roller assembly 1054 to clamp the winding tube 1042. The second motor 1051 drives the active roller assembly 1053 to rotate via the second gear set 1052, which in turn drives the winding tube 1042 to rotate, causing the winding tube 1042 to move forward or backward.

[0044] In other embodiments, the pressure at which the active roller assembly 1053 and the driven roller assembly 1054 clamp the reel 1042 is 0.5 MPa to 1.0 MPa.

[0045] The cleaning trolley 2 includes a first motor 201, a first gear set 202, a drive roller 203, a connecting frame 204, an auxiliary roller 205, a pressure handle cover 206, an eccentric wheel 207, a handle 208, an eccentric shaft 209, a tension wheel frame 210, a tension wheel 211, a tension wheel guide rod 212, a guide post pressure plate 213, and a three-dimensional rotating nozzle 214.

[0046] The first motor 201 and the three-dimensional rotating nozzle 214 are fixed to one side of the connecting frame 204, and the hose 1042 is connected to the three-dimensional rotating nozzle 214. A rotating drive roller 203 is installed inside the connecting frame 204. The output shaft of the first motor 201 is connected to a first gear set 202, which drives the drive roller 203 to rotate. When the first motor 201 is working, it drives the drive roller 203 to rotate via the first gear set 202. A track is laid inside the tank.

[0047] The connecting frame 204 has rotatable auxiliary rollers 205 on both sides of its bottom. The connecting frame 204 has a pressure handle cover 206 on its top. The pressure handle cover 206 is fixedly connected to the connecting frame 204. An eccentric wheel 207 is provided inside the pressure handle cover 206. An eccentric shaft 209 is provided on both sides of the eccentric wheel 207. The eccentric shaft 209 is fixedly connected to the eccentric wheel 207. A handle 208 is provided on the eccentric wheel 207. The pressure handle cover 206 has an adjustment channel. The handle 208 can move along the adjustment channel.

[0048] In other embodiments, the handle 208 includes a connecting rod that passes through an adjustment channel. A sleeve is provided over the adjusting channel, and a stop is provided at one end of the connecting rod inside the sleeve. A first spring is provided inside the sleeve. When rotation is required, the sleeve is pulled outward, and then the sleeve is rotated to the desired position. The sleeve is then released, and under the elastic force of the first spring, it contacts the pressure handle cover 206. The sleeve cannot extend into the adjustment channel of the pressure handle cover 206, thus limiting the eccentric wheel 207.

[0049] By rotating the handle 208, the eccentric wheel 207 is driven to rotate, which in turn drives the eccentric shaft 209 to rotate, causing the height of the eccentric shaft 209 to change.

[0050] The connecting frame 204 has movable tension wheel guide rods 212 on both sides. The top of the tension wheel guide rod 212 is provided with a guide post pressure plate 213. The top of the guide post pressure plate 213 is provided with a groove, and the eccentric shaft 209 is rotatably disposed in the groove.

[0051] The bottom of the tension wheel guide rod 212 is provided with a tension wheel frame 210, and a rotatable tension wheel 211 is provided on the tension wheel frame 210.

[0052] A second spring is sleeved between the tension wheel guide rod 212 and the guide post pressure plate 213 and the connecting frame 204. The second spring is in a compressed state. Before placing the cleaning trolley 2, the handle 208 is turned so that the eccentric shaft 209 is at its lowest position. The eccentric shaft 209 presses down on the guide post pressure plate 213, and the guide post pressure plate 213 presses down on the tension wheel guide rod 212, the tension wheel frame 210, and the tension wheel 211, so that the tension wheel 211 is at its lowest position. The cleaning trolley 2 is then placed on the track, and the tension wheel 211 is in the lowest position. Below the track, the active roller 203 is at the top of the track, and the auxiliary rollers 205 are on both sides of the track. Turning the handle 208 makes the eccentric shaft 209 reach its highest point. The guide post pressure plate 213 moves upward under the elastic force of the second spring, which in turn drives the tension wheel 211 to move upward. The tension wheel 211 is in close contact with the bottom surface of the track, and the active roller 203 is in close contact with the top of the track. The first motor 201 drives the active roller 203 to rotate through the first gear set 202, which in turn drives the cleaning trolley 2 to move along the track.

[0053] Achieving precise movement and positioning significantly improves safety and efficiency. Through the coordinated action of the first motor 201, the first gear set 202, the active roller 203, the auxiliary roller 205, and the tensioning structure, the cleaning trolley 2 can automatically move and retreat along the preset track, replacing the traditional high-risk operation mode of manual entry into the tank. This completely avoids safety hazards such as poisoning and suffocation, while ensuring standardized and uniform cleaning paths and higher cleaning efficiency.

[0054] The accompanying trolley 3 includes a trolley body 301, a buckle 302, a pipe channel 303, and auxiliary driven wheels 304. The pipe channel 303 is provided on the top of the trolley body 301, and the reel 1042 is placed in the pipe channel 303. The buckle 302 is also provided on the top of the trolley body 301 to fix the reel 1042. Auxiliary driven wheels 304 are provided on both sides of the bottom of the trolley body 301. The accompanying trolley 3 is placed on the track, and the auxiliary driven wheels 304 on both sides are respectively located on both sides of the track. As the cleaning trolley 2 drives the reel 1042 to move, it drives the accompanying trolley 3 to move along the track, so that the reel 1042 is close to the track.

[0055] The system effectively solves the problems of tangling, deviation, and wear of the hose 1042, ensuring high reliability. A manually operated, segmented accompanying trolley 3 is introduced. The accompanying trolley 3 is fixed to the hose 1042 via clips 302, and the auxiliary driven wheel 304 engages with the side of the track, providing stable support and guidance for the hose 1042. This ensures that the hose 1042 maintains a consistent trajectory with the track, fundamentally preventing knotting, detachment, excessive bending, and wear caused by the hose 1042's own weight, twisting, or scraping against obstacles in complex tank environments. This guarantees the continuity of cleaning operations and the lifespan of the equipment.

[0056] In other embodiments, the distance between two adjacent accompanying trolleys 3 on the track is 100cm-150cm.

[0057] In other embodiments, the buckle 302 is a resilient and detachable structure used to clamp the outer periphery of the coil 1042.

[0058] The cleaning cart 2 is equipped with a three-dimensional rotating nozzle 214. The cleaning cart 2 moves along the track, and the three-dimensional rotating nozzle 214 works together to achieve multi-angle and all-round spray coverage. Compared with the nozzles in the existing technology that can only be adjusted in a single plane, it can better adapt to the complex structure inside large tanks, such as asymmetrical access holes, ladders, baffles, etc., and achieve effective cleaning of tank walls, tops, and deep blind areas, significantly improving the cleaning effect.

[0059] In other embodiments, when the cleaning trolley 2 moves along the track, the travel speed of the cleaning trolley 2 ranges from 0.1 m / s to 0.5 m / s.

[0060] In other embodiments, the control cabinet 1 also includes a controller, which is electrically connected to the first motor 201, the second motor 1051, the three-dimensional rotating nozzle 214, etc. The controller is used to synchronously control the movement of the cleaning trolley 2, the winding and unwinding of the hose 1042, the rotation of the three-dimensional rotating nozzle 214, and the mixing ratio of the chemicals.

[0061] In other embodiments, the track is a roller-type guide rail.

[0062] The hose reel drive assembly 105 provides active and controllable mechanical power for the retrieval and release of the hose reel 1042, which works in conjunction with the movement of the cleaning trolley 2, reducing the burden of manually dragging the hose and avoiding problems such as the accumulation and jamming of the hose reel 1042 due to insufficient retrieval power.

[0063] When only water is needed for cleaning, the dosing device 1021 is not in operation, and water is introduced into the water tank 101 through the inlet 1011. The cleaning trolley 2 is placed on the track inside the tank, with the tensioning wheel 211 below the track, the drive roller 203 at the top of the track, and the auxiliary rollers 205 on both sides of the track. The handle 208 is turned so that the eccentric shaft 209 is at its highest point. The guide plate 213 moves upward under the elastic force of the second spring, which in turn drives the tensioning wheel 211 to move upward. The tensioning wheel 211 is in close contact with the bottom surface of the track, and the drive roller 203 is in close contact with the track. At the top, the first motor 201 drives the active roller 203 to rotate through the first gear set 202, thereby driving the cleaning trolley 2 to move along the track; the second motor 1051 drives the active roller set 1053 to rotate through the second gear set 1052, thereby driving the hose 1042 to rotate, so that the hose 1042 moves synchronously; the high-pressure pump assembly 103 delivers clean water from the water tank 101 to the hose 1042, and then delivers it to the three-dimensional rotating nozzle 214 through the hose 1042, and the clean water is sprayed out through the three-dimensional rotating nozzle 214 to clean the inside of the tank. After the cleaning trolley 2 has moved a certain distance, the hose reel 1042 is manually placed into the pipeline channel 303 and then fixed with the buckle 302. The accompanying trolley 3 is placed on the track, and the auxiliary driven wheel 304 is in contact with the side of the track. As the cleaning trolley 2 moves the hose reel 1042, it in turn moves the accompanying trolley 3 along the track. A following trolley 3 is placed every time the cleaning trolley 2 moves a certain distance, so that the hose reel 1042 is in contact with the track.

[0064] When a cleaning solution needs to be mixed with clean water, clean water is introduced into the water tank 101 through the inlet 1011; the dosing device 1021 operates, delivering the cleaning solution into the water tank 101 through the cleaning solution pipeline 1024, where the cleaning solution and clean water are mixed to form a solution; the cleaning trolley 2 is placed on the track inside the tank, with the tensioning wheel 211 below the track, the drive roller 203 at the top of the track, and the auxiliary rollers 205 on both sides of the track; the handle 208 is turned to bring the eccentric shaft 209 to its highest position, and the guide plate 213 moves upward under the elastic force of the second spring, thereby driving the tensioning wheel 211 to move upward, tensioning... The tensioning wheel 211 is in close contact with the bottom surface of the track, and the driving roller 203 is in close contact with the top surface of the track. The first motor 201 drives the driving roller 203 to rotate through the first gear set 202, thereby driving the cleaning trolley 2 to move along the track. The second motor 1051 drives the driving roller set 1053 to rotate through the second gear set 1052, thereby driving the hose 1042 to rotate, so that the hose 1042 moves synchronously. The high-pressure pump assembly 103 transports the mixed liquid in the water tank 101 to the hose 1042, and then through the hose 1042 to the three-dimensional rotating nozzle 214. The mixed liquid is sprayed out through the three-dimensional rotating nozzle 214 to clean the inside of the tank. After the cleaning trolley 2 has moved a certain distance, the hose reel 1042 is manually placed into the pipeline channel 303 and then fixed with the buckle 302. The accompanying trolley 3 is placed on the track, and the auxiliary driven wheel 304 is in contact with the side of the track. As the cleaning trolley 2 moves the hose reel 1042, it in turn moves the accompanying trolley 3 along the track. A following trolley 3 is placed every time the cleaning trolley 2 moves a certain distance, so that the hose reel 1042 is in contact with the track.

[0065] In existing technologies, multi-angle cleaning of large tanks is mainly achieved through a swing arm. However, in this application, the cleaning trolley 2 is equipped with a three-dimensional rotating nozzle 214. The cleaning trolley 2 moves along a track, and the combination of the cleaning trolley 2 and the three-dimensional rotating nozzle 214 enables multi-angle, all-around spray coverage. This better adapts to the complex structures inside large tanks, such as asymmetrical access holes, ladders, and baffles, achieving effective cleaning of the tank walls, top, and deep blind areas, significantly improving the cleaning effect.

[0066] In existing technologies, pipes are prone to tangling during cleaning, which affects cleaning efficiency. In this application, a following trolley 3 is placed after the cleaning trolley 2 travels a certain distance, ensuring the hose 1042 stays close to the track. This effectively solves the problems of hose tangling, deviation, and wear, ensuring high reliability. The following trolley 3 is manually placed in segments. The following trolley 3 is fixed to the hose 1042 by clips 302, and the auxiliary driven wheel 304 engages with the side of the track, providing stable support and guidance for the hose 1042. This ensures the hose 1042 maintains a consistent trajectory with the track, fundamentally avoiding tangling, detachment, excessive bending, and wear caused by the hose 1042's own weight, twisting, or scraping against obstacles in complex tank environments. This guarantees the continuity of cleaning operations and the lifespan of the equipment. Furthermore, the hose reel drive assembly 105 provides active and controllable mechanical power for the retrieval and release of the hose reel 1042, which works in conjunction with the movement of the cleaning trolley 2, reducing the burden of manually dragging the hose and avoiding problems such as the accumulation and jamming of the hose reel 1042 due to insufficient retrieval power.

[0067] The above description is an explanation of this application and not a limitation thereof. The scope of this application is defined by the claims. Within the scope of protection of this application, any form of modification may be made.

Claims

1. A track-mounted tank cleaning robot, characterized in that, include: The control cabinet (1) is located outside the tank, and a track is laid inside the tank; The cleaning trolley (2) is placed on the track inside the tank; The cleaning trolley (2) includes a first motor (201), a first gear set (202), an active roller (203), an auxiliary roller (205), a three-dimensional rotating nozzle (214), and a tensioning roller (211) that can be raised and lowered. The active roller (203) is placed above the track, and the tensioning roller (211) is placed below the track. The tensioning roller (211) and the active roller (203) work together to make the cleaning trolley (2) fit tightly against the track. The auxiliary roller (205) is set on both sides of the track. The first motor (201) drives the active roller (203) through the first gear set (202). The control cabinet (1) includes a water tank (101), a high-pressure pump assembly (103), a hose reel assembly (104), and a hose reel drive assembly (105). The hose reel assembly (104) has a hose (1042) wound inside. The hose reel drive assembly (105) drives the hose (1042). The high-pressure pump assembly (103) delivers water from the water tank (101) to the hose (1042). The hose (1042) is connected to a three-dimensional rotating nozzle (214).

2. The track-mounted tank cleaning robot as described in claim 1, characterized in that: It also includes multiple accompanying trolleys (3). Each accompanying trolley (3) includes a trolley body (301), a pipe channel (303) on the trolley body (301) for placing the reel (1042), a buckle (302) on the trolley body (301) for fixing the reel (1042), and auxiliary driven wheels (304) on both sides of the bottom of the trolley body (301). Multiple accompanying trolleys (3) are fixed at intervals on the reel (1042), and then the accompanying trolleys (3) are placed on the track, with the auxiliary driven wheels (304) on both sides of the track.

3. The track-mounted tank cleaning robot as described in claim 1, characterized in that: The water tank (101) is provided with an inlet (1011), a return outlet (1012), an overflow outlet (1013), an outlet (1015), a drain outlet (1016), and a medicine outlet (1014).

4. The track-mounted tank cleaning robot as described in claim 3, characterized in that: The water distribution valve assembly (102) includes a dosing device (1021), which is connected to the water inlet (1014) via a water pipe (1024).

5. The track-mounted tank cleaning robot as described in claim 4, characterized in that: The high-pressure pump assembly (103) includes a cleaning pump (1031), a first rigid pipe (1032), and a second rigid pipe (1033). The inlet of the cleaning pump (1031) is connected to the outlet (1015) of the water tank (101) through the first rigid pipe (1032), and the outlet of the cleaning pump (1031) is connected to the second rigid pipe (1033).

6. The track-mounted tank cleaning robot as described in claim 5, characterized in that: The hose reel assembly (104) further includes a hose reel (1041) and a third rigid tube (1043), the third rigid tube (1043) being connected to the second rigid tube (1033), the hose reel (1042) being wound around the hose reel (1041), and the third rigid tube (1043) being connected to the hose reel (1042).

7. The track-mounted tank cleaning robot as described in claim 6, characterized in that: The tube winding drive assembly (105) includes a second motor (1051), a second gear set (1052), an active roller set (1053), a driven roller set (1054), and an elastic pressing member (1055). The second motor (1051) drives the active roller set (1053) through the second gear set (1052). The driven roller set (1054) is located above the active roller set (1053). The tube winding (1042) is located between the active roller set (1053) and the driven roller set (1054). The top of the driven roller set (1054) is connected to the elastic pressing member (1055). The elastic pressing member (1055) presses the driven roller set (1054) downward, so that the active roller set (1053) and the driven roller set (1054) clamp the tube winding (1042).

8. The track-mounted tank cleaning robot as described in claim 1, characterized in that: The cleaning trolley (2) also includes a connecting frame (204), a first motor (201) and a three-dimensional rotating nozzle (214) are fixed on one side of the connecting frame (204), an active roller (203) is rotatably disposed inside the connecting frame (204), and an auxiliary roller (205) is rotatably disposed on both sides of the bottom of the connecting frame (204).

9. The track-mounted tank cleaning robot as described in claim 8, characterized in that: The top of the connecting frame (204) is provided with a pressure handle cover (206), and a rotatable eccentric wheel (207) is provided inside the pressure handle cover (206). An eccentric shaft (209) is provided on both sides of the eccentric wheel (207). The tension wheel (211) is rotatably provided on one side of the tension wheel frame (210). A tension wheel guide rod (212) is fixed on the tension wheel frame (210). The tension wheel guide rod (212) is movably passed through the connecting frame (204). A guide post pressure plate (213) is provided on the top of the tension wheel guide rod (212). A groove is provided on the top of the guide post pressure plate (213). The eccentric shaft (209) is rotatably provided in the groove. A second spring is sleeved between the tension wheel guide rod (212) and the connecting frame (204).

10. The track-mounted tank cleaning robot as described in claim 9, characterized in that: A handle (208) is fixed on the eccentric wheel (207), and an adjustment channel is provided on the pressure handle cover (206). The handle (208) includes a connecting rod that passes through the adjustment channel. A sleeve is provided on the connecting rod outside the adjustment channel. A stop block is provided at one end of the connecting rod inside the sleeve. A first spring is provided on the connecting rod inside the sleeve. The handle (208) can drive the eccentric wheel (207) to rotate by moving along the adjustment channel.

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