Tank cleaning robot

Abstract

The utility model discloses a tank cleaning robot, including the mobile chassis, magnetic piece and cleaning part, the both sides of mobile chassis are provided with the wheel, the middle part of the lower end of mobile chassis is provided with the telescopic piece, and the telescopic end of telescopic piece faces downward, the magnetic piece is installed at the telescopic end of telescopic piece, and the cleaning part is installed on the mobile chassis. The telescopic part is used for driving the magnetic attraction part to move to be attracted to the inner tank wall of a tank body, the movable chassis is used for traveling along the inner wall of the tank body in a wall-attached mode under the attraction effect of the magnetic attraction part, and the cleaning part is used for cleaning the inner wall of the tank body under driving of the movable chassis. In this way, when the movable chassis runs, the movable chassis can be attracted to the inner wall of the tank body through the magnetic attraction part, and when the movable chassis runs, the driving force of the movable chassis is larger than the attraction force of the magnetic attraction part and the tank wall, so that the movable chassis can be attracted to the inner wall of the tank body and move at the same time, and the inner side wall of the tank body can be conveniently cleaned through the cleaning part.

Description

Technical Field

[0001] The utility model belongs to the technical field of tank cleaning, and in particular relates to a tank cleaning robot. Background Art

[0002] Oil storage tanks are containers used to store and transport crude oil, refined oil, fuel oil or other oil products. These tanks are usually made of metal (such as steel) materials and are designed to be sealed to ensure that the stored oil does not leak or become contaminated. Oil storage tanks vary in type and size, and can have different designs and configurations depending on their purpose and storage volume. After a period of use, a layer of dirt and sediment will accumulate on the inner wall of an oil storage tank, which not only affects the storage efficiency and safety of the tank, but may also have an adverse effect on the quality of the oil that is subsequently processed. The existing technology has the following problems: during the cleaning process of the oil storage tank, the staff needs to use cleaning tools to clean the inner wall of the tank. The traditional manual cleaning steps are relatively cumbersome, and the working time required for large-scale cleaning is greatly increased, which leads to low work efficiency. In addition, manual cleaning requires entering the interior of the tank. When the staff works in the tank with high oil and gas concentration, they may face safety risks such as poisoning, suffocation or explosion due to operational errors, which makes the operation unsafe. Of course, the document number CN113369265A "Oil Tank Cleaning Robot" discloses a pipeline cleaning robot, but it cannot travel on the side wall of the tank body, and it can only clean the inner bottom wall of the tank body. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a tank cleaning robot which has a simple structure and can flexibly move on the inner wall of the tank to perform tank cleaning.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is as follows: a tank cleaning robot comprises a mobile chassis, a magnetic suction part and a cleaning part, wherein traveling parts are arranged on both sides of the mobile chassis, a telescopic part is arranged in the middle part of the lower end of the mobile chassis, and the telescopic end of the telescopic part faces downward, and the magnetic suction part is installed at the telescopic end of the telescopic part, and the telescopic part is used to drive the magnetic suction part to move to be adsorbed on the inner tank wall of the tank body, and the mobile chassis is used to run along the inner wall of the tank body under the adsorption action of the magnetic suction part, and the cleaning part is used to clean the inner wall of the tank body under the drive of the mobile chassis.

[0005] The beneficial effect of the above technical solution is that: when the mobile chassis is traveling, it can be adsorbed by the magnetic suction component and the inner wall of the tank body, and when the mobile chassis is traveling, its driving force is greater than the suction force between the magnetic suction component and the tank wall, so that the mobile chassis can be adsorbed on the inner wall of the tank body and move at the same time, so that the cleaning part can clean the inner wall of the tank body.

[0006] The magnetic attraction component in the above technical solution includes a mounting plate, a magnet and a plurality of rolling members, the mounting plate is horizontally arranged, the telescopic end of the telescopic member is vertically connected to the middle of the upper end of the mounting plate, the magnet is installed in the middle of the lower end of the mounting plate, and the plurality of rolling members are circumferentially spaced and installed at the edge position of the lower end of the mounting plate.

[0007] The beneficial effect of the above technical solution is that its structure is simple. By arranging a rolling member at the lower end of the mounting plate, when the mounting plate is adsorbed by the inner wall of the tank body through the magnet, the mounting plate and the inner wall of the tank body are in rolling friction when the movable chassis moves, thereby reducing the movement resistance of the movable chassis on the side wall of the tank body.

[0008] The rolling element in the above technical solution is a roller or a ball.

[0009] The beneficial effects of the above technical solution are: it is easy to set up and has little friction when in contact with the inner wall of the tank.

[0010] The telescopic member described in the above technical solution is a telescopic electric cylinder or an electromagnetic push-pull rod.

[0011] The beneficial effects of the above technical solution are: its structure is simple and easy to operate.

[0012] In the above technical solution, two cleaning parts are provided, and the two cleaning parts are respectively arranged at the front and rear ends of the mobile chassis.

[0013] The beneficial effect of the above technical solution is that: in this way, the moving chassis can perform two cleaning processes on its moving track when moving forward or backward.

[0014] In the above technical solution, a pipe interface groove is provided in the middle of the upper end of the mobile chassis, a water outlet is provided on the side wall of the pipe interface groove, the cleaning part has a water inlet, the water inlet of the cleaning part is connected with the water outlet on the pipe interface groove, and the groove of the pipe interface groove is used to connect with the water supply pipe.

[0015] The beneficial effect of the above technical solution is that the cleaning part can also wash the inner wall of the tank body.

[0016] The cleaning part described in the above technical scheme includes a cleaning roller, two swing arms and a rotating joint. The cleaning roller is hollow inside, and a plurality of perforations are arranged on the roller surface of the cleaning roller, and a plurality of scrapers are arranged circumferentially at intervals on the outer circumference of the cleaning roller. Both ends of the cleaning roller are coaxially convexly provided with convex shafts, and at least one of the convex shafts is a tubular shaft that passes through the interior of the cleaning roller and constitutes the water inlet of the cleaning part. The rotating joint is arranged at the water inlet of the cleaning part, and the rotating joint is connected with the water outlet. The two swing arms are arranged in the front-to-back direction and are spaced apart in the left-to-right direction. One end of the two swing arms is connected to the upper end of the movable chassis, and the cleaning roller is horizontally arranged in the left-to-right direction in the middle between the other ends of the two swing arms, and the convex shafts at both ends of the cleaning roller are rotatably connected to the corresponding ends of the two swing arms respectively.

[0017] The beneficial effect of the above technical solution is that: the water inlet at the end of the cleaning roller allows washing water to flow in, and the washing water is ejected from the inner diameter holes of the cleaning roller to rinse the inner wall of the tank, while the scraper can be against the inner wall of the tank and scrape off the stains on the inner wall of the tank.

[0018] In the above technical solution, the multiple perforations on the cleaning roller are equally divided into multiple groups of perforations distributed at intervals along the circumferential direction on the roller surface of the cleaning roller, and each group of the perforations has multiple perforations distributed at intervals along the axial direction of the cleaning roller.

[0019] The beneficial effects of the above technical solution are: its structure is simple and the spraying effect of washing water is good.

[0020] In the above technical solution, the plurality of scrapers and the plurality of perforation groups on the cleaning roller are alternately distributed on the roller surface of the cleaning roller.

[0021] The beneficial effect of the above technical solution is that: in this way, the scraping joint between each scraper and the inner wall of the tank body can be promptly flushed by multiple perforations, which can improve the efficiency of treating stains on the inner wall of the tank body.

[0022] In the above technical solution, each scraper is arranged along the axial direction of the cleaning roller and is installed on the roller surface of the cleaning roller through a plurality of damping rods.

[0023] The beneficial effect of the above technical solution is that the scraper can have a certain buffering performance under the action of the damping rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a vertical view of the tank cleaning robot according to an embodiment of the utility model;

[0025] Figure 2 This is another elevation view of the tank cleaning robot according to an embodiment of the utility model;

[0026] Figure 3 This is a schematic diagram of the installation of the cleaning roller and multiple scrapers according to an embodiment of the utility model;

[0027] Figure 4 It is a schematic diagram of the assembly of the swing arm, the rotating structure and the hose in the embodiment of the utility model;

[0028] Figure 5 It is a schematic diagram of the assembly of the swing arm, torsion spring and mounting seat described in the embodiment of the utility model;

[0029] Figure 6 It is a schematic diagram of the cleaning roller and the pipeline interface groove being connected via a hose in an embodiment of the utility model.

[0030] In the figure: 1 mobile chassis; 11 running part; 12 pipe interface groove; 121 water outlet; 13 mounting seat; 14 torsion spring; 2 magnetic suction member; 21 mounting plate; 22 magnet; 23 rolling member; 3 cleaning part; 31 cleaning roller; 311 perforation; 312 cam shaft; 32 swing arm; 33 rotary joint; 34 scraper; 35 damping rod; 4 telescopic member; 5 hose. DETAILED DESCRIPTION

[0031] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0032] like Figure 1 and Figure 2 As shown, the present embodiment provides a tank cleaning robot, characterized in that it comprises a mobile chassis 1, a magnetic suction member 2 and a cleaning part 3, a traveling part 11 is arranged on both sides of the mobile chassis 1, a telescopic member 4 is arranged in the middle of the lower end of the mobile chassis 1, and the telescopic end of the telescopic member 4 faces downward, the magnetic suction member 2 is installed at the telescopic end of the telescopic member 4, the telescopic member 4 is used to drive the magnetic suction member 2 to move to be adsorbed on the inner tank wall of the tank body, the mobile chassis 1 is used to travel along the inner wall of the tank body under the adsorption action of the magnetic suction member 2, and the cleaning part 3 is used to clean the inner wall of the tank body under the drive of the mobile chassis 1, so that the mobile chassis can be adsorbed by the inner wall of the tank body by the magnetic suction member when traveling, and when the mobile chassis is traveling, its driving force is greater than the attraction force between the magnetic suction member and the tank wall, so that the mobile chassis can be adsorbed on the inner wall of the tank body and move at the same time, so that the cleaning part can clean the inner wall of the tank body.

[0033] The magnetic attraction component 2 in the above technical solution includes a mounting plate 21, a magnet 22 and a plurality of rolling components 23. The mounting plate 21 is horizontally arranged, the telescopic end of the telescopic component 4 is vertically connected to the middle of the upper end of the mounting plate 21, the magnet 22 is installed in the middle of the lower end of the mounting plate 21, and a plurality of rolling components 23 are circumferentially spaced and installed at the edge position of the lower end of the mounting plate 21. The structure is simple. By arranging a rolling component at the lower end of the mounting plate, when the mounting plate is adsorbed by the inner wall of the tank body through the magnet, the mounting plate and the inner wall of the tank body are in rolling friction when the movable chassis moves, thereby reducing the movement resistance of the movable chassis on the side wall of the tank body.

[0034] The rolling element 23 in the above technical solution is a roller or a ball, which is easy to set up and has little friction when in contact with the inner wall of the tank.

[0035] The telescopic member 4 in the above technical solution is a telescopic electric cylinder or an electromagnetic push-pull rod, which has a simple structure and is easy to operate.

[0036] In the above technical solution, two cleaning parts 3 are provided, and the two cleaning parts 3 are respectively arranged at the front and rear ends of the mobile chassis 1, so that the mobile chassis can perform two cleaning processes on its moving track when moving forward or backward.

[0037] In the above technical solution, a pipe interface groove 12 is provided in the middle of the upper end of the mobile chassis 1, and a water outlet 121 is provided on the side wall of the pipe interface groove 12. The cleaning part 3 has a water inlet, and the water inlet of the cleaning part 3 is connected with the water outlet 121 on the pipe interface groove 12. The notch of the pipe interface groove 12 is used to connect with the water supply pipe, so that the cleaning part can also wash the inner wall of the tank.

[0038] like Figure 3As shown, the cleaning part 3 in the above technical solution includes a cleaning roller 31, two swing arms 32 and a rotary joint 33. The cleaning roller 31 is hollow inside, and a plurality of perforations 311 are arranged on the roller surface of the cleaning roller 31, and a plurality of scrapers 34 are arranged circumferentially at intervals on the outer periphery of the cleaning roller 31. Both ends of the cleaning roller 31 are coaxially convexly provided with convex shafts 312, and at least one of the convex shafts 312 is a tubular shaft that penetrates the interior of the cleaning roller 31 and constitutes the water inlet of the cleaning part 3. The rotary joint is arranged at the water inlet of the cleaning part, and the rotary joint is connected to the water outlet 121. The two swing arms 32 are connected through a hose 5, and are arranged along the front-to-back direction and spaced apart along the left-to-right direction. One end of the two swing arms 32 is connected to the upper end of the mobile chassis 1. The cleaning roller 31 is horizontally arranged in the middle between the other ends of the two swing arms 32 along the left-to-right direction, and the convex shafts 312 at both ends of the cleaning roller 31 are rotatably connected to the corresponding ends of the two swing arms 32, so that the water inlet at the end of the cleaning roller is passed with washing water, and the washing water is ejected from the inner diameter holes of the cleaning roller to rinse the inner wall of the tank body, and the scraper can be against the inner wall of the tank body to scrape off the stains on the inner wall of the tank body.

[0039] like Figure 4 As shown, in this embodiment, the swing arm is Y-shaped, the rotary joint is fixedly installed in the fork of the swing arm, and the convex shaft is rotatably connected and communicated with the rotary joint. A mounting seat 13 is provided at the upper end of the chassis body corresponding to the mounting position of each swing arm. The rod portion of the swing arm is tubular, through which a hose passes. Preferably, water inlets (such as Figure 6 As shown), that is, a rotating joint is provided at both ends of each cleaning roller, and the end of the swing arm away from the fork is vertically swingably connected to the mounting seat. At this time, a torsion spring 14 (as shown) can be provided at each mounting seat. Figure 5 As shown in the figure, the two ends of the torsion spring are respectively against the swing arm and the mounting seat, and the elastic force of the torsion spring is used to drive the corresponding swing arm to swing downward, so that when the movable chassis moves on the inner wall of the tank body, the torsion spring drives the corresponding swing arm to swing until the cleaning roller tends to be against the inner wall of the tank body to scrape off stains, and when there is a hard obstacle on the tube wall, the cleaning part can squeeze the torsion spring to retreat for avoidance.

[0040] In this embodiment, a water outlet is provided on each of the left and right sides of the pipe interface groove 12, and the water inlet at the same end of the two cleaning rollers is connected to the water outlet at the corresponding side through a hose.

[0041] like Figure 3As shown, in the above technical solution, the multiple perforations 311 on the cleaning roller 31 are equally divided into multiple groups of perforations distributed along the circumferential direction on the roller surface of the cleaning roller 31, and each group of the perforations has multiple perforations 311 distributed along the axial direction of the cleaning roller 31. It has a simple structure and a good washing water spraying effect.

[0042] like Figure 3 As shown, the multiple scrapers 34 and the multiple groups of perforation groups on the cleaning roller 31 in the above technical solution are alternately distributed on the roller surface of the cleaning roller 31, so that each scraper and the inner wall of the tank body can be timely rinsed by the multiple perforations at the scraping joint, which can improve the efficiency of treating stains on the inner wall of the tank body; preferably, each scraper 34 is arranged along the axial direction of the cleaning roller 31, and is installed on the roller surface of the cleaning roller 31 through multiple damping rods 35, so that the scraper can have a certain buffering performance under the action of the damping rod (the damping rod will shrink when squeezed by external force, and it will stretch and reset after the external force is removed. The structure of the damping rod belongs to the prior art and will not be elaborated here).

[0043] In this embodiment, the perforations on the cleaning roller are distributed tangentially on the cleaning roller, and the multiple perforations in the same group are oriented in the same direction on the cleaning roller, and the perforations of multiple groups of perforation groups are oriented in the same direction in the circumferential direction of the cleaning roller (all tangent to the cleaning roller in a clockwise direction or in a counterclockwise direction), the multiple scrapers and the multiple perforation groups correspond one to one, and the multiple perforations in each perforation group are oriented toward the corresponding hanging plate.

[0044] In this embodiment, the two cleaning rollers are respectively located in front and behind the movable chassis.

[0045] In this embodiment, the mobile chassis 1 can be an electric wheeled chassis (in this case, its running part is wheels) or an electric crawler chassis (in this case, its running part is crawlers).

[0046] The above description is only a preferred embodiment of the utility model and does not limit the utility model in any form. Any ordinary technician in the industry can smoothly implement the utility model as shown in the drawings of the specification and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the utility model using the technical content disclosed above are all equivalent embodiments of the utility model. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the utility model are still within the protection scope of the technical solution of the utility model.

Claims

1. A tank cleaning robot, characterized in that: The invention comprises a movable chassis (1), a magnetic attraction component (2) and a cleaning part (3), wherein a running part (11) is arranged on both sides of the movable chassis (1), a telescopic component (4) is arranged in the middle of the lower end of the movable chassis (1), and the telescopic end of the telescopic component (4) faces downward, the magnetic attraction component (2) is mounted on the telescopic end of the telescopic component (4), the telescopic component (4) is used to drive the magnetic attraction component (2) to move to be adsorbed on the inner tank wall of the tank body, the movable chassis (1) is used to run along the inner wall of the tank body under the adsorption effect of the magnetic attraction component (2), and the cleaning part (3) is used to clean the inner wall of the tank body under the drive of the movable chassis (1).

2. The tank cleaning robot according to claim 1, characterized in that: The magnetic attraction member (2) comprises a mounting plate (21), a magnet (22) and a plurality of rolling members (23); the mounting plate (21) is arranged horizontally; the telescopic end of the telescopic member (4) is vertically connected to the middle of the upper end of the mounting plate (21); the magnet (22) is mounted in the middle of the lower end of the mounting plate (21); and the plurality of rolling members (23) are circumferentially spaced and mounted at the edge of the lower end of the mounting plate (21).

3. The tank cleaning robot according to claim 2, characterized in that: The rolling element (23) is a roller or a ball.

4. The tank cleaning robot according to claim 1, characterized in that: The telescopic member (4) is a telescopic electric cylinder or an electromagnetic push-pull rod.

5. The tank cleaning robot according to claim 1, characterized in that: Two cleaning parts (3) are provided, and the two cleaning parts (3) are respectively arranged at the front and rear ends of the mobile chassis (1).

6. The tank cleaning robot according to any one of claims 1 to 5, characterized in that: A pipe interface groove (12) is provided in the middle of the upper end of the mobile chassis (1), a water outlet (121) is provided on the side wall of the pipe interface groove (12), the cleaning portion (3) has a water inlet, the water inlet of the cleaning portion (3) is connected to the water outlet (121) on the pipe interface groove (12), and the notch of the pipe interface groove (12) is used to be connected to a water supply pipe.

7. The tank cleaning robot according to claim 6, characterized in that: The cleaning portion (3) comprises a cleaning roller (31), two swing arms (32) and a rotary joint (33); the cleaning roller (31) is hollow inside; a plurality of perforations (311) are arranged on the roller surface of the cleaning roller (31); a plurality of scrapers (34) are arranged circumferentially at intervals on the outer circumference of the cleaning roller (31); convex shafts (312) are coaxially convexly provided at both ends of the cleaning roller (31); at least one of the convex shafts (312) is a tubular shaft that penetrates the interior of the cleaning roller (31) and constitutes a water inlet of the cleaning portion (3); The rotary joint (33) is arranged at the water inlet of the cleaning part (3), and the rotary joint (33) is connected to the water outlet (121). The two swing arms (32) are arranged along the front-to-back direction and are spaced apart along the left-to-right direction. One end of the two swing arms (32) is connected to the upper end of the movable chassis (1). The cleaning roller (31) is horizontally arranged in the middle between the other ends of the two swing arms (32) along the left-to-right direction, and the convex shafts (312) at both ends of the cleaning roller (31) are respectively rotatably connected to the corresponding ends of the two swing arms (32).

8. The tank cleaning robot according to claim 7, characterized in that: The plurality of perforations (311) on the cleaning roller (31) are equally divided into a plurality of perforation groups distributed at intervals along the circumferential direction on the roller surface of the cleaning roller (31), and each of the perforation groups has a plurality of perforations (311) distributed at intervals along the axial direction of the cleaning roller (31).

9. The tank cleaning robot according to claim 8, characterized in that: The plurality of scrapers (34) and the plurality of perforation groups on the cleaning roller (31) are alternately distributed on the roller surface of the cleaning roller (31).

10. The tank cleaning robot according to claim 7, characterized in that: Each scraper (34) is arranged along the axial direction of the cleaning roller (31) and is mounted on the roller surface of the cleaning roller (31) via a plurality of damping rods (35).

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