Automatic cleaning robot for inner wall of tank car

Abstract

The utility model discloses an automatic cleaning robot for the inner wall of a tank car, which comprises a car body, a cleaning mechanism, a walking mechanism, a pitching mechanism, a radar and video monitoring system, a water jet mechanism and a car body electromagnet are arranged in the car body, and the cleaning mechanism rotates and revolves to conduct cleaning work. Flexible movement and steering of the automatic cleaning robot for the inner wall of the tank car are achieved through the walking mechanism, the pitching mechanism can be tightly attached to the wall face of the inner wall of the tank car, obstacle detection and video monitoring are achieved through the radar and video monitoring system, and the inner wall of the tank car is washed through the water jet mechanism. And the recoil force of the water jet drives the cleaning mechanism to rotate. The water jet cleaning device is reasonable in structural design, adopts water jet as driving force, is stable and reliable in electromagnetic adsorption, adopts the water jet and the brush for cleaning, is high in cleaning efficiency, saves energy and water resources, and is high in automation degree, low in cost and convenient to use on site.

Description

TECHNICAL FIELD

[0001] The utility model relates to the cleaning technical field of oil products, chemical reagent etc. tank transport vehicle, especially tank car inner wall automatic cleaning robot. BACKGROUND

[0002] Tank transport vehicle is mainly used for the transportation of various oil products and chemical reagents, especially widely used in railway and highway freight transportation. In order to ensure that the transported raw materials are not contaminated by impurities, the tank car inner wall needs to be cleaned regularly.

[0003] There are three methods for tank car inner wall cleaning: high temperature steam cleaning, chemical cleaning and high pressure water jet cleaning. At present, the cleaning method of automobile tank car mainly adopts manual cleaning, but the raw materials transported by tank car are mostly flammable, explosive and volatile hazardous chemicals, the working environment is poor and dangerous, which threatens the health and safety of workers, and manual cleaning is inefficient. Chemical cleaning may corrode the tank body, shorten the service life of the tank car, and may cause secondary pollution. High pressure water jet cleaning has been widely used in the field of tank car cleaning due to its automation, high efficiency and environmental protection. By using high pressure water flow to impact the inner wall of the tank body, oil stains and impurities can be effectively removed.

[0004] However, the existing high pressure water jet cleaning has poor quality, especially when cleaning the bottom of the tank car and being blocked by the wave plate, it is difficult to completely remove the oil stains, and a large amount of water resources is consumed. Therefore, we designed a tank car inner wall automatic cleaning robot to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model discloses a tank car inner wall automatic cleaning robot which uses water jet as driving force, adopts electromagnetic adsorption which is stable and reliable, uses water jet and brush for cleaning, has high cleaning efficiency, saves energy and water resources, has high automation degree, low cost and is convenient for on-site use.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] The tank car inner wall automatic cleaning robot comprises a vehicle body, a cleaning mechanism, a walking mechanism, a pitching mechanism, a radar and video monitoring system, a water jet mechanism and a vehicle body electromagnet are arranged in the vehicle body, the cleaning mechanism rotates and revolves to perform cleaning work, the walking mechanism realizes flexible movement and steering of the tank car inner wall automatic cleaning robot, the pitching mechanism can be closely attached to the wall surface of the tank car inner wall, the radar and video monitoring system realizes obstacle detection and video monitoring, the water jet mechanism flushes the tank car inner wall and drives the cleaning mechanism to rotate by the backflushing force of the water jet, and the vehicle body electromagnet is fixed to the bottom surface of the robot to provide pressure of the tank car inner wall wall surface for the robot.

[0008] Preferably, the cleaning mechanism is composed of a central gear fixed by a central shaft, three planetary gears, a rotating support and three brushes, the rotating support, the central gear and the three planetary gears form a set of planetary gear mechanism, the three brushes are fixedly installed at the bottom of the three planetary gears and rotate with the planetary gears.

[0009] Preferably, the walking mechanism is composed of four first driving motors and four rubber wheels, the four first driving motors drive the four rubber wheels to rotate respectively.

[0010] Preferably, the pitching mechanism is composed of a pitching magnetic wheel, a second driving motor, a pitching support and a pitching rudder, the pitching magnetic wheel is internally circumferentially provided with electromagnets, after being electrified, the electromagnets can generate magnetic attraction force, so that the pitching magnetic wheel can be closely attached to the wall surface of the inner wall of the tank car.

[0011] Preferably, the radar and video monitoring system comprises a laser radar and a monitoring camera, and realizes obstacle detection and video monitoring.

[0012] Preferably, the water jet mechanism is composed of a tap water pipe, a water pipe joint and three circumferentially distributed nozzles, the included angle between the nozzles and the water pipe axis is 20-40 degrees, so as to ensure that the backwash force of the water jet is sufficient to drive the cleaning mechanism to rotate.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1. The utility model has the advantages of compact structure, unmanned and automatic high-efficiency cleaning of the tank car, and improved safety and efficiency of the tank car inner wall cleaning.

[0015] 2. The utility model adopts water jet and brushing combination, saves water and electricity, is simple to operate, can significantly improve the degree of tank car cleaning, and ensures the quality of material transportation. DRAWINGS

[0016] Figure 1 The utility model discloses a tank car inner wall automatic cleaning robot structure schematic view.

[0017] Figure 2 The utility model discloses a tank car inner wall automatic cleaning robot internal structure schematic view.

[0018] Figure 3 The utility model discloses a tank car inner wall automatic cleaning robot bottom structure schematic view.

[0019] Figure 4 It is the central gear, planetary gear, rotating support connection schematic drawing.

[0020] In the figure: 1, vehicle body; 2, cleaning mechanism; 21, central gear; 22, planetary gear; 23, brush; 3, walking mechanism; 31, first drive motor; 32, rubber wheel; 4, pitch mechanism; 41, pitch magnetic wheel; 42, second drive motor; 43, pitch support; 44, pitch rudder; 5, radar and video monitoring system; 6, water jet mechanism; 61, tap; 62, water pipe joint; 63, spray head; 64, rotating support; 65, central shaft; 7, vehicle body electromagnet. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments.

[0022] Referring to Figures 1-4 , the tank car inner wall automatic cleaning robot comprises a vehicle body 1, the vehicle body 1 is internally provided with a cleaning mechanism 2, a walking mechanism 3, a pitch mechanism 4, a radar and video monitoring system 5, a water jet mechanism 6 and a vehicle body electromagnet 7, the cleaning mechanism 2 performs rotation and revolution to perform cleaning work, referring to Figure 2 and Figure 4 , the cleaning mechanism 2 is composed of a central gear 21, three planetary gears 22, a rotating support 64 and three brushes 23, the rotating support 64, the central gear 21 and the three planetary gears 22 form a set of planetary gear mechanism, the three brushes 23 are respectively fixedly installed at the bottoms of the three planetary gears 22 and rotate and revolve together with the planetary gears 22, wherein, the vehicle body 1 is provided with an installation groove penetratingly formed thereon, the three planetary gears 22 are installed in the installation groove through the rotating support 64, and the rotating support 64 is connected with the spray head 63, so that the rotating support 64 can rotate coaxially with the spray head 63, the central gear 21 is located at the center of the installation groove, the three planetary gears 22 are arranged in an annular array around the central gear 21, and the three planetary gears 22 are all engaged with the central gear 21, the central gear 21 is fixed through a central shaft 65, and the central gear 21 is connected with the shell through the central shaft 65, so that the central gear 21 is fixed and cannot rotate, under the action of the water jet recoil force of the spray head 63, the rotating support 64 drives the planetary gears 22 to revolve around the central gear 21, and under the meshing action of the planetary gears 22 and the central gear 21, the planetary gears 22 can rotate, since the brushes 23 are respectively fixed at the bottoms of the three planetary gears 22, the three planetary gears 22 respectively drive the brushes 23 connected therewith to rotate and revolve, thereby performing cleaning work;

[0023] Referring to Figure 2 and Figure 3, the walking mechanism 3 is composed of four first driving motors 31 and four rubber wheels 32, which are symmetrically installed at the bottom of the vehicle body 1, the four first driving motors 31 drive the four rubber wheels 32 to rotate respectively, and the four rubber wheels 32 are independently controlled, so that the tank car inner wall automatic cleaning robot can move flexibly and turn;

[0024] With reference to Figure 2 , the pitching mechanism 4 can be closely attached to the wall surface of the tank car inner wall, the pitching mechanism 4 is composed of a pitching magnetic wheel 41, a second driving motor 42, a pitching support 43 and a pitching rudder 44 installed on the vehicle body 1, the pitching magnetic wheel 41 is arranged with electromagnets inside, which can generate magnetic attraction force after being electrified, so that the pitching magnetic wheel 41 can be closely attached to the wall surface of the tank car inner wall, the pitching rudder 44 is fixedly installed on the vehicle body 1 and can control the rotation of the pitching support 43 to adjust the angle of the pitching support 43, the second driving motor 42 and the pitching magnetic wheel 41 are installed on the pitching support 43, the second driving motor 42 can drive the pitching magnetic wheel 41 to rotate, the pitching magnetic wheel 41 is electrified and attached to the inner wall in different directions of the tank car, which can cooperate with the walking mechanism 3 to move the cleaning robot to the inner wall in different directions of the tank car or to the anti-wave board, thereby facilitating the full cleaning of the tank car and ensuring the cleaning effect (specifically, the pitching magnetic wheel 41 is attached to the inner wall in different directions of the tank car, the vehicle body electromagnet 7 is de-energized, the pitching magnetic wheel 41 can be rotated and matched with the corresponding rubber wheel 32 to make the cleaning robot climb to the inner wall in different directions of the tank car, the vehicle body electromagnet 7 is energized, the pitching magnetic wheel 41 is de-energized and reset, which can make the cleaning robot clean the inner wall in different directions of the tank car) ;

[0025] With reference to Figure 1 , the radar and video monitoring system 5 realizes obstacle detection and video monitoring, the radar and video monitoring system 5 includes a laser radar and a monitoring camera, the laser radar can realize obstacle detection, and the monitoring camera can realize video monitoring;

[0026] With reference to Figure 2The water jet mechanism 6 flushes the inner wall of the tank truck, and the backwash force of the water jet drives the cleaning mechanism 2 to rotate. The water jet mechanism 6 is composed of a tap water pipe 61, a water pipe joint 62 and three circumferentially distributed nozzles 63. The water pipe joint 62 is installed on the central gear 21, and the water pipe joint 62 is a rotating joint, so that the water pipe joint 62 can drive the rotating support 64 to rotate, and the tap water pipe 61 cannot rotate with the rotating support 64, thereby reducing the winding phenomenon of the tap water pipe 61. The three nozzles 63 are installed on the side wall of the water pipe joint 62, and the included angle between the nozzle 63 and the axis of the tap water pipe 61 is 20°-40°, so that the backwash force of the water jet is sufficient to drive the cleaning mechanism 2 to rotate, that is, water enters the tap water pipe 61, the tap water enters the water pipe joint 62 and is sprayed out through the plurality of nozzles 63 to spray and wash the inner wall of the tank truck. At the same time, the backwash force of the water jet sprayed by the nozzle 63 can drive the central gear 21 to rotate, so that the three brushes 23 rotate with the planetary gear 22 to rotate and revolve to clean.

[0027] Referring to Figure 3 The vehicle body electromagnet 7 is fixed to the bottom surface of the robot, and provides a pressure on the inner wall of the tank truck to ensure stable driving of the robot.

[0028] The function principle of the utility model can be described by the following operation modes:

[0029] Suppose that a highway oil tank truck transports diesel oil and then needs to clean the inside of the oil tank. Since the internal anti-wave board and other structures are relatively complex, it is appropriate to use the automatic cleaning robot for the inner wall of the tank truck to clean.

[0030] 1. The oil in the tank truck is completely discharged, and a sewage pipeline or container is connected to the oil discharge port.

[0031] 2. The tap water pipe 61 is connected to the water pipe joint 62 of the automatic cleaning robot to continuously supply water to the cleaning robot, and a power line is connected.

[0032] 3. The cleaning robot is put into the tank body through the manhole of the tank body.

[0033] 4. Turn on the power, and the cleaning robot can automatically detect through the radar and video monitoring system 5, and complete the cleaning through the cooperation of the water jet mechanism 6 and the cleaning mechanism 2.

[0034] 5. For local stubborn stains, the remote control can be used to control the robot to repeatedly clean until the requirements are met.

[0035] The above merely describes a preferred embodiment of the present application, and the protection scope of the present application is not limited thereto, and any skilled person in the art, according to the technical scheme and the inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A tank car interior wall automatic cleaning robot comprising a car body (1), characterized in that, The car body (1) is internally provided with a cleaning mechanism (2), a walking mechanism (3), a pitching mechanism (4), a radar and video monitoring system (5), a water jet mechanism (6) and a car body electromagnet (7), the cleaning mechanism (2) rotates and revolves to clean, the walking mechanism (3) realizes flexible movement and steering of the tank car inner wall automatic cleaning robot, the pitching mechanism (4) can be closely attached to the wall surface of the tank car inner wall, the radar and video monitoring system (5) realizes obstacle detection and video monitoring, the water jet mechanism (6) washes the tank car inner wall, and the backwash force of the water jet drives the cleaning mechanism (2) to rotate, and the car body electromagnet (7) is fixed on the bottom surface of the robot to provide pressure on the wall surface of the tank car inner wall.

2. The tank truck inner wall automatic cleaning robot according to claim 1, characterized in that, The cleaning mechanism (2) is composed of a center gear (21), three planetary gears (22), a rotating support (64) and a brush (23), the center gear (21) is fixed by a center shaft (65), the rotating support (64), the center gear (21) and the three planetary gears (22) form a set of planetary gear mechanism, and the three brushes (23) are respectively fixedly installed at the bottoms of the three planetary gears (22) and rotate and revolve together with the planetary gears (22).

3. The tank truck inner wall automatic cleaning robot according to claim 1, characterized in that, The walking mechanism (3) is composed of four first driving motors (31) and four rubber wheels (32), and the four first driving motors (31) drive the four rubber wheels (32) to rotate, respectively.

4. The tank truck inner wall automatic cleaning robot according to claim 1, characterized in that, The pitching mechanism (4) is composed of a pitching magnet wheel (41), a second driving motor (42), a pitching support (43) and a pitching rudder machine (44), the pitching magnet wheel (41) is internally circumferentially provided with an electromagnet, and after electrification, magnetic attraction force is generated, so that the pitching magnet wheel (41) can be closely attached to the wall surface of the tank car inner wall.

5. The tank truck inner wall automatic cleaning robot according to claim 1, characterized in that, The radar and video monitoring system (5) comprises a laser radar and a monitoring camera, and realizes obstacle detection and video monitoring.

6. The tank truck inner wall automatic cleaning robot according to claim 1, characterized in that, The water jet mechanism (6) is composed of a tap water pipe (61), a water pipe joint (62) and three circumferentially distributed nozzles (63), the included angle between the nozzle (63) and the water pipe axis is 20°-40°, so that the backwash force of the water jet drives the cleaning mechanism (2) to rotate.

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