A sludge gripping device

Abstract

This application provides an oil sludge grabbing device, comprising: a base; a first driving component driven by the base for driving the base to rotate; a support arm, the first end of which is fixedly connected to the base; a first folding arm, the first end of which is rotatably connected to the second end of the support arm; a second folding arm, the first end of which is rotatably connected to the second end of the first folding arm; a grab bucket assembly connected to the second end of the second folding arm; a first telescopic component, the fixed end of which is fixedly connected to the support arm, and the movable end of which is fixedly connected to the first folding arm; a second telescopic component, the fixed end of which is fixedly connected to the first folding arm, and the movable end of which is fixedly connected to the first end of the second folding arm; a level gauge for monitoring the material height in the sludge storage tank; an image recognition device mounted on the first folding arm; and a controller housed in a control cabinet, the input end of which is communicatively connected to the output ends of the level gauge and the image recognition device. This application eliminates the need for frequent movement of equipment, improving oil sludge processing efficiency, and eliminates the need for on-site personnel to observe the timing of oil sludge grabbing, thus reducing labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of comprehensive oil sludge treatment technology, specifically to an oil sludge handling device. Background Technology

[0002] Oil sludge is a waste product generated during oilfield development, petroleum refining, transportation, and storage. It is a complex emulsion formed by a mixture of oil, water, and solid phases, containing various organic and heavy metal pollutants. Improper disposal and discharge can cause serious harm. With the development of my country's petroleum industry, oil sludge production is increasing daily, making its proper disposal a crucial issue for relevant enterprises.

[0003] Oily sludge is stored in a sludge storage tank. An oily sludge grabbing device is used to grab the sludge and feed it into the inlet of downstream equipment for physicochemical separation, thermal treatment, or biological treatment, thus processing the sludge and achieving resource utilization. Currently, the oily sludge grabbing device cannot rotate flexibly, requiring frequent relocation of the equipment, which affects the efficiency of oily sludge treatment. Furthermore, it requires workers to observe the sludge storage in the tank on-site and rely on experience to judge when to grab the sludge, increasing the workload. Utility Model Content

[0004] In view of this, the present invention provides an oil sludge grabbing device to solve the above-mentioned technical problems.

[0005] The sludge handling equipment provided by this utility model includes:

[0006] Base;

[0007] A first driving component is connected to the base and is used to drive the base to rotate.

[0008] A support arm, the first end of which is fixedly connected to the base;

[0009] A first folding arm, wherein the first end of the first folding arm is rotatably connected to the second end of the support arm;

[0010] The second folding arm has a first end that is rotatably connected to the second end of the first folding arm;

[0011] A grab bucket assembly, which is connected to the second end of the second folding arm, is used to grab oil sludge;

[0012] The first telescopic component has a fixed end that is fixedly connected to the support arm and a movable end that is fixedly connected to the first folding arm.

[0013] The second telescopic component has a fixed end that is fixedly connected to the first folding arm, and a movable end that is fixedly connected to the first end of the second folding arm.

[0014] The level gauge is used to monitor the material height in the sludge storage tank;

[0015] An image recognition device is mounted on the first folding arm;

[0016] A control cabinet is provided, which contains a controller. The input terminal of the controller is communicatively connected to the output terminals of the level gauge and the image recognition device.

[0017] Optionally, the grab assembly includes:

[0018] Mounting plate, the mounting plate being connected to the second end of the second folding arm;

[0019] The third telescopic component, the movable end of which is fixedly connected to the mounting plate;

[0020] The connecting shaft is fixedly connected to the fixed end of the third telescopic member;

[0021] Two sets of connecting rods are provided on opposite sides of the third telescopic member. Each set includes two connecting rods, and the first end of each connecting rod is rotatably connected to the mounting plate.

[0022] A clam-shaped grab bucket includes two buckets, which are disposed on opposite sides of the third telescopic member. The first ends of the two buckets are rotatably connected to the connecting shaft, and the second ends of the two buckets are rotatably connected to the second ends of the connecting rods on both sides of the third telescopic member. The two buckets can be opened or closed.

[0023] Optionally, the sludge handling equipment further includes:

[0024] A fixing plate is fixedly connected to the second end of the second folding arm;

[0025] The second driving component is fixedly connected to the fixed plate, and the output shaft of the second driving component is drivenly connected to the mounting plate to drive the mounting plate to rotate.

[0026] Optionally, the third telescopic component is configured as a hydraulic cylinder, the cylinder barrel of the hydraulic cylinder is fixedly connected to the connecting shaft, and the end of the piston rod of the hydraulic cylinder away from the cylinder barrel is fixedly connected to the mounting plate.

[0027] Optionally, the sludge grabbing device further includes an infrared rangefinder, which is mounted on the grab bucket assembly, and the output of the infrared rangefinder is communicatively connected to the input of the controller.

[0028] Optionally, the sludge handling equipment further includes a video monitoring device, the output of which is communicatively connected to the input of the controller.

[0029] Optionally, the sludge handling device further includes a display screen, the input of which is communicatively connected to the output of the controller.

[0030] Optionally, the sludge handling equipment further includes a leakage current protection device, which is installed inside the control cabinet.

[0031] Optionally, multiple level gauges are provided and arranged at different positions within the sludge storage tank, and the output terminal of each level gauge is communicatively connected to the input terminal of the controller.

[0032] Optionally, the sludge handling device further includes an alarm, the input of which is communicatively connected to the output of the controller.

[0033] The technical solution provided by this utility model has at least the following beneficial effects compared with the prior art:

[0034] The oil sludge grabbing device of this invention uses a first driving component to drive the base to rotate, which in turn drives the grab bucket assembly to rotate. The position of the grab bucket assembly can be flexibly adjusted, eliminating the need to frequently move the overall equipment. This allows for the grabbing of oil sludge from different locations in the sludge storage tank, improving the efficiency of oil sludge processing. Furthermore, the image recognition device can identify whether the material in the sludge storage tank is oil sludge, and the level gauge can monitor the oil sludge height in real time. By combining these factors, the timing for grabbing oil sludge can be determined, eliminating the need for on-site observation and judgment by personnel, thus reducing workload. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of an embodiment of the sludge handling equipment of this utility model;

[0036] Figure 2 for Figure 1 Top view of the sludge handling equipment shown;

[0037] Figure 3 for Figure 1 The diagram shows the grab bucket assembly of the sludge grabbing equipment in a closed state.

[0038] Figure 4 for Figure 3 Side view of the grab assembly shown;

[0039] Figure 5 for Figure 3 The diagram shows the grab assembly in the open state.

[0040] Figure label:

[0041] 1: Base; 2: Support arm; 3: First folding arm; 4: Second folding arm; 5: Grab bucket assembly; 51: Mounting plate; 52: Third telescopic component; 53: Connecting shaft; 54: Connecting rod; 55: Clamshell grab bucket; 551: Bucket; 6: First telescopic component; 7: Second telescopic component; 8: Level gauge; 9: Image recognition device; 10: Fixing plate; 11: Video monitoring device; 12: Sludge storage tank. Detailed Implementation

[0042] The embodiments of this utility model will be further described below with reference to the accompanying drawings. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description of this utility model. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0043] Figure 1 This is a schematic diagram of an embodiment of the sludge handling equipment of this utility model; Figure 2 for Figure 1 The image shows a top view of the sludge handling equipment. Figure 1 and Figure 2 As shown, the sludge grabbing device includes a base 1, a first drive unit (not shown), a support arm 2, a first folding arm 3, a second folding arm 4, a grab bucket assembly 5, a first telescopic component 6, a second telescopic component 7, a level gauge 8, an image recognition device 9, and a control cabinet (not shown).

[0044] The first driving component is driven to the base 1 and is used to drive the base 1 to rotate; the first end of the support arm 2 is fixedly connected to the base 1; the first end of the first folding arm 3 is rotatably connected to the second end of the support arm 2; the first end of the second folding arm 4 is rotatably connected to the second end of the first folding arm 3; the grab bucket assembly 5 is connected to the second end of the second folding arm 4 and is used to grab sludge; the fixed end of the first telescopic component 6 is fixedly connected to the support arm 2, and the movable end of the first telescopic component 6 is fixedly connected to the first folding arm 3; the fixed end of the second telescopic component 7 is fixedly connected to the first folding arm 3, and the movable end of the second telescopic component 7 is fixedly connected to the first end of the second folding arm 4; the level gauge 8 is used to monitor the material height in the sludge storage tank 12; the image recognition device 9 is installed on the first folding arm 3; a controller is installed in the control cabinet, and the input end of the controller is communicatively connected to the output end of the level gauge 8 and the image recognition device 9.

[0045] During operation, the first drive unit, base 1, and level gauge 8 are installed in the sludge storage tank 12. The level gauge 8 monitors the actual material height in the sludge storage tank 12 in real time and transmits the actual material height data to the controller. The image recognition device 9 captures the actual image of the material in the sludge storage tank 12 in real time and transmits the actual image data to the controller. The controller has pre-stored the set height of the sludge when it needs to be grabbed and processed, and has pre-stored standard image data that confirms that the material in the sludge storage tank 12 is sludge. The controller compares the actual material height data with the set height and the actual image data with the standard image data. When the actual material height data is greater than the set height and the actual image data matches the standard image data, it indicates that the material in the sludge storage tank 12 is definitely sludge, and the height of the sludge meets the height required for grabbing and cleaning. At this time, the controller outputs a signal to the external equipment to prompt the staff to perform the sludge grabbing operation. During the grabbing operation, the first drive unit is activated, causing the base 1 to rotate. This causes the support arm 2, the first folding arm 3, the second folding arm 4, and the grab bucket assembly 5, which are directly or indirectly connected to the base 1, to rotate synchronously above the area where the sludge needs to be grabbed. Then, the movable end of the first telescopic member 6 retracts, causing the first folding arm 3, connected to the movable end, to rotate toward the support arm 2, that is, closer to the sludge storage tank 12. This causes the second folding arm 4 and the grab bucket assembly 5 to rotate toward the sludge storage tank 12 as well, until the grab bucket assembly 5 approaches the top surface of the sludge in the sludge storage tank 12. Then, the movable end of the second telescopic member 7 extends or retracts, causing the second folding arm 4, connected to the movable end, to rotate toward or away from the first folding arm 3. This causes the grab bucket assembly 5 to rotate as well, further adjusting the distance between the grab bucket assembly 5 and the top surface of the sludge, as well as the specific position where the grab bucket assembly 5 grabs the sludge. The grab bucket assembly 5 can open and close to grab oily sludge. After grabbing the sludge, the movable end of the first telescopic member 6 extends outward, causing the first folding arm 3 connected to the movable end to rotate away from the support arm 2, that is, away from the sludge storage tank 12. This causes the second folding arm 4 connected to the first folding arm 3 and the grab bucket assembly 5 to rise. After being raised to a suitable height, the first drive member is activated again, causing the first drive member to drive the base 1 and the support arm 2, the first folding arm 3, the second folding arm 4 and the grab bucket assembly 5 directly or indirectly connected to the base 1 to rotate synchronously until they rotate to the feeding port of the downstream equipment. At this point, the movable end of the second telescopic member 7 extends or retracts so that the grab bucket assembly 5 is fully engaged with the feeding port. Finally, the grab bucket assembly 5 opens, releasing the oily sludge into the feeding port, completing one oily sludge grabbing and feeding process. This cycle is repeated to complete the grabbing and feeding of oily sludge in the sludge storage tank 12.

[0046] The oil sludge grabbing device of this utility model uses the first driving component to drive the base 1 to rotate, which in turn drives the grab bucket assembly 5 to rotate. The position of the grab bucket assembly 5 can be flexibly adjusted, eliminating the need to frequently move the overall equipment. This allows for the grabbing of oil sludge at different locations within the sludge storage tank 12, improving the efficiency of oil sludge processing. Furthermore, the image recognition device 9 can identify whether the material in the sludge storage tank 12 is oil sludge, and the level gauge 8 can monitor the oil sludge height in real time. By combining these factors, the timing for grabbing oil sludge can be determined, eliminating the need for on-site observation and judgment by staff, thus reducing workload.

[0047] like Figure 1 and Figure 2 As shown, in this embodiment, the base 1 is located near the center of the sludge storage tank 12. Under the drive of the first driving member, the base 1 can rotate 360°. The lower end of the support arm 2 is fixedly connected to the base 1, and the upper end is hinged to the left end of the first folding arm 3. The right end of the first folding arm 3 is hinged to the left end of the second folding arm 4, and the left end of the second folding arm 4 extends a certain distance after being hinged to the first folding arm 3. The right end of the second folding arm 4 is connected to the grab bucket assembly 5. The fixed end of the first telescopic member 6 is connected to the center of the support arm 2 approximately along its length, and the movable end is connected to the first folding arm 3 near its left end. The fixed end of the second telescopic member 7 is connected to the center of the first folding arm 3 approximately along its length, and the movable end is connected to the second folding arm 4 extending a certain distance beyond the left end of the first folding arm 3. The level gauge 8 is located near the inner wall of the sludge storage tank 12, and the image recognition device 9 is installed on the first folding arm 3 near its center of length. Depending on the actual application, the overall equipment layout is flexible and can be placed in the middle or at the edge of the sludge storage tank 12. The support arm 2, the first folding arm 3, the second folding arm 4, and the grab bucket assembly 5 can all have their parameters adjusted according to the specific specifications of the sludge storage tank 12 to achieve flexible layout and height adaptation. The first telescopic component 6 and the second telescopic component 7 can adopt any telescopic structure, such as hydraulic cylinders and air cylinders, as long as they can achieve telescopic movement and drive the first folding arm 3 and the second folding arm 4 to swing. The grab bucket assembly 5 can adopt any existing structural form capable of grabbing oil sludge, such as a clamshell grab bucket or a multi-lobed grab bucket. Among them, the multi-lobed grab bucket can grab bagged oil sludge, and the clamshell grab bucket can grab both bagged and bulk oil sludge. The image recognition device 9 can be any device with image acquisition function, such as a camera. The controller comprehensively determines whether the oil sludge in the sludge storage tank 12 needs to be grabbed and cleaned based on the comparison results of the actual material height data monitored by the level gauge 8 and the set height, as well as the comparison results of the actual image data monitored by the image recognition device 9 and the standard image data. It also outputs a signal to the external equipment to prompt the staff's control logic. This can be achieved based on existing mature algorithms, and its specific principle will not be elaborated here.

[0048] Figure 3 for Figure 1 The diagram shows the grab bucket assembly of the sludge grabbing equipment in a closed state. Figure 4 for Figure 3 Side view of the grab assembly shown; Figure 5 for Figure 3 The diagram shows the grab assembly in its open state. Figures 3-5 As shown, optionally, the grab assembly 5 includes a mounting plate 51, a third telescopic member 52, a connecting shaft 53, two sets of connecting rods 54, and a clamshell grab 55. The mounting plate 51 is connected to the second end of the second folding arm 4; the movable end of the third telescopic member 52 is fixedly connected to the mounting plate 51; the fixed end of the third telescopic member 52 is fixedly connected to the connecting shaft 53; two sets of connecting rods 54 are disposed on opposite sides of the third telescopic member 52, each set including two connecting rods 54, the first end of each connecting rod 54 being rotatably connected to the mounting plate 51; the clamshell grab 55 includes two buckets 551, disposed on opposite sides of the third telescopic member 52, the first ends of the two buckets 551 being rotatably connected to the connecting shaft 53 respectively, and the second ends of the two buckets 551 being rotatably connected to the second ends of the connecting rods 54 on both sides of the third telescopic member 52 respectively, allowing the two buckets 551 to open or close. This configuration simplifies the structural composition of the grab assembly 5 and facilitates assembly and operation.

[0049] like Figures 3-5 As shown, in this embodiment, two third telescopic members 52 are provided, located on both sides of the center of the length of the connecting shaft 53, symmetrically arranged. The upper movable ends are fixedly connected to the mounting plate 51, and the lower fixed ends are fixedly connected to the connecting shaft 53. Two sets of connecting rods 54 are located on both sides of the line connecting the two third telescopic members 52, symmetrically arranged. Each set includes two connecting rods 54, and the upper end of each connecting rod 54 is hinged to the mounting plate 51. The two buckets 551 of the clamshell grab 55 are located on both sides of the line connecting the two third telescopic members 52, symmetrically arranged. The side of the two buckets 551 closest to the opening is hinged to the connecting shaft 53, and the side of the two buckets 551 furthest from the opening is hinged to the lower end of the connecting rod 54 located on the same side. The end of the bucket 551 hinged to the connecting shaft 53 and the end hinged to the connecting rod 54 are diagonally arranged. Figure 3 As shown, when the clamshell grab 55 is in the closed state, the openings of the two buckets 551 are facing each other and tightly closed together. When it is necessary to transfer the contents of the two buckets 551 to the other buckets, the two buckets 551 are positioned so that the openings face each other and are tightly closed together. Figure 3 The closed state in the middle is transformed into Figure 5When the container is in the open state, the movable end of the third telescopic member 52 extends outward. This movable end is fixedly connected to the mounting plate 51. The fixed end of the third telescopic member 52 moves downward under the reverse force of the movable end, causing the connecting shaft 53 connected to the fixed end to move downward. As a result, the connecting shaft 53 pushes the two buckets 551 and the end hinged to them to move downward. Then, the opening end of the two buckets 551 separates from each other, and the connecting rods 54 on both sides of the connecting shaft 53 rotate around the mounting plate 51 at a certain angle, pulling the two buckets 551 and the end hinged to them to move upward. This causes the opening of the two buckets 551 to gradually rotate downward, that is, to rotate towards the mud storage tank 12. Finally, the clam-shaped grab is in the open state. After the two buckets 551 are in the open state, they approach the oily sludge in the sludge storage tank 12. Then, the movable end of the third telescopic member 52 retracts, causing the fixed end connected to it to move upward. This causes the connecting shaft 53 connected to the fixed end to move upward, and the connecting rod 54 to rotate towards the third telescopic member 52, bringing the openings of the two buckets 551 closer together. Finally, they close again, allowing the oily sludge to enter the inside of the buckets 551, thus achieving the grabbing of the oily sludge. The clamshell grab bucket 55 is a mature existing technology that can be applied to bagged and bulk oily sludge. Its specific structure and detailed working process will not be described in detail.

[0050] Optionally, the sludge grabbing device also includes a fixed plate 10 and a second driving component (not shown). The fixed plate 10 is fixedly connected to the second end of the second folding arm 4; the second driving component is fixedly connected to the fixed plate 10, and the output shaft of the second driving component is driven to rotate the mounting plate 51. With this configuration, the mounting plate 51 can be rotated by the second driving component, thus enabling the overall rotation of the grab bucket assembly 5. This allows for flexible adjustment of the opening and closing orientation of the clamshell grab bucket 55 when grabbing sludge, and also allows for more flexible adjustment of the specific position of the sludge being grabbed.

[0051] like Figure 1 As shown, in this embodiment, the fixed plate 10 is fixedly connected to the right end of the second folding arm 4. The second driving component can be a motor. When the motor is started, the output shaft of the motor rotates, thereby driving the mounting plate 51 connected to it to rotate, which in turn drives the connecting rod 54, the third telescopic component 52 and the clamshell grab 55 connected to the mounting plate 51 to rotate synchronously. Under the drive of the second driving component, the grab assembly 5 can be driven to rotate 360°.

[0052] Optionally, the third telescopic component 52 is configured as a hydraulic cylinder, with the cylinder barrel fixedly connected to the connecting shaft 53, and the piston rod of the hydraulic cylinder at the end away from the cylinder barrel fixedly connected to the mounting plate 51. Hydraulic cylinders are a mature, existing technology, offering stable operation and contributing to the long-term stable operation of the grab assembly 5.

[0053] Optionally, the sludge grabbing equipment also includes an infrared rangefinder, which is mounted on the grab bucket assembly 5, and the output of the infrared rangefinder is communicatively connected to the input of the controller. As the grab bucket assembly 5 approaches the top surface of the sludge and gradually transitions from a closed to an open state, the actual distance between the grab bucket assembly 5 and the inner wall of the sludge storage tank 12 can be monitored using an infrared rangefinder. This actual distance data is then transmitted to the controller. The controller has a pre-stored safe distance between the grab bucket assembly 5 and the inner wall of the sludge storage tank 12. When the actual distance data is less than the safe distance, it indicates that the grab bucket assembly 5 is too close to the inner wall of the sludge storage tank 12. In this case, the controller sends a stop signal to external equipment (such as an alarm) to prompt the operator to stop controlling the grab bucket assembly 5 to continue opening, or to move the grab bucket assembly 5 away from the inner wall of the sludge storage tank 12 to prevent collisions. The controller's output can also communicate with the control terminals of the first and second drive components. Thus, when it is determined that the distance between the grab bucket assembly 5 and the inner wall of the sludge storage tank 12 is too close, the controller stops the operation of the first and second drive components, thereby causing the base 1 and the grab bucket assembly 5 to stop rotating. The infrared rangefinder can be installed on the connecting rod 54 of the grab bucket assembly 5 or on the bucket 551. Depending on the installation position of the infrared rangefinder, the specific value of the safety distance pre-stored in the controller can be adjusted appropriately.

[0054] Optionally, the sludge handling equipment also includes a video monitoring device 11, the output of which is communicatively connected to the input of the controller. The video monitoring device 11 can be installed around the perimeter of the plant where the sludge storage tank 12 is located. During equipment operation, it captures video data and transmits the video data to the controller. The controller can then transmit the video data to external devices (such as a display screen) for remote monitoring by staff, so that staff can be notified immediately if a malfunction occurs during equipment operation.

[0055] Optionally, the sludge handling equipment also includes a display screen (not shown), whose input terminal is communicatively connected to the output terminal of the controller. The display screen allows for real-time display of the actual material height data monitored by the level gauge 8 and the actual image data monitored by the image recognition device 9, providing operators with a clear and intuitive understanding of the material height and composition within the sludge storage tank 12. The display screen can be installed independently or integrated into the control cabinet.

[0056] When the sludge grabbing equipment is equipped with an infrared rangefinder and a video monitoring device 11, the distance data between the grab bucket assembly 5 and the inner wall of the sludge storage tank 12 monitored by the infrared rangefinder, as well as the video data of the equipment operation process monitored by the video monitoring device 11, can be displayed on the screen.

[0057] Optionally, the sludge handling equipment also includes a leakage current protection device (RCD), which is installed inside the control cabinet. The RCD is a multi-functional electrical protection device primarily used to prevent electrical faults such as leakage, overload, and short circuits, ensuring electrical safety. It is interlocked with the control system, stopping the equipment in the event of a fault. The RCD is a mature existing technology, and its specific structure and working principle will not be elaborated here. Furthermore, when the controller is connected to devices such as the level gauge 8 and the image recognition device 9 via wired connections, explosion-proof and fire-resistant cables are used to further improve the safety factor.

[0058] Optionally, multiple level gauges 8 are installed and arranged at different positions within the sludge storage tank 12. The output of each level gauge 8 is communicatively connected to the input of the controller. By installing multiple level gauges 8 to monitor the material height at different positions within the sludge storage tank 12, the location with the most material accumulation within the sludge storage tank 12 can be determined based on multiple material height data, and then the sludge can be grabbed from the location with the most material accumulation first.

[0059] Optionally, the sludge handling equipment also includes an alarm, the input of which is communicatively connected to the output of the controller. The alarm is set so that when the actual material height exceeds a set height and the actual image data matches the standard image data, indicating that the sludge in the sludge storage tank 12 is indeed sludge and the sludge height meets the requirements for handling and cleaning, the controller will activate the alarm to immediately alert personnel that the sludge handling operation can proceed. The alarm can be either an audible alarm or a visual alarm.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An oil sludge grabbing apparatus, characterized in that, include: Base; A first driving component is connected to the base and is used to drive the base to rotate. A support arm, the first end of which is fixedly connected to the base; A first folding arm, wherein the first end of the first folding arm is rotatably connected to the second end of the support arm; The second folding arm has a first end that is rotatably connected to the second end of the first folding arm; A grab bucket assembly, which is connected to the second end of the second folding arm, is used to grab oil sludge; The first telescopic component has a fixed end that is fixedly connected to the support arm and a movable end that is fixedly connected to the first folding arm. The second telescopic component has a fixed end that is fixedly connected to the first folding arm, and a movable end that is fixedly connected to the first end of the second folding arm. The level gauge is used to monitor the material height in the sludge storage tank; An image recognition device is mounted on the first folding arm; A control cabinet is provided, which contains a controller. The input terminal of the controller is communicatively connected to the output terminals of the level gauge and the image recognition device.

2. The sludge gripping apparatus of claim 1, wherein The grab assembly includes: Mounting plate, the mounting plate being connected to the second end of the second folding arm; The third telescopic component, the movable end of which is fixedly connected to the mounting plate; The connecting shaft is fixedly connected to the fixed end of the third telescopic member; Two sets of connecting rods are provided on opposite sides of the third telescopic member. Each set includes two connecting rods, and the first end of each connecting rod is rotatably connected to the mounting plate. A clam-shaped grab bucket includes two buckets, which are disposed on opposite sides of the third telescopic member. The first ends of the two buckets are rotatably connected to the connecting shaft, and the second ends of the two buckets are rotatably connected to the second ends of the connecting rods on both sides of the third telescopic member. The two buckets can be opened or closed.

3. The sludge gripping apparatus of claim 2, wherein Also includes: A fixing plate is fixedly connected to the second end of the second folding arm; The second driving component is fixedly connected to the fixed plate, and the output shaft of the second driving component is drivenly connected to the mounting plate to drive the mounting plate to rotate.

4. The sludge handling equipment according to claim 2 or 3, characterized in that: The third telescopic component is configured as a hydraulic cylinder, the cylinder barrel of the hydraulic cylinder is fixedly connected to the connecting shaft, and the piston rod of the hydraulic cylinder at the end away from the cylinder barrel is fixedly connected to the mounting plate.

5. The sludge gripping device according to any one of claims 1-3, characterized in that Also includes: An infrared rangefinder is mounted on the grab bucket assembly, and the output of the infrared rangefinder is communicatively connected to the input of the controller.

6. The sludge gripping apparatus according to any one of claims 1-3, characterized in that, Also includes: A video surveillance device, wherein the output of the video surveillance device is communicatively connected to the input of the controller.

7. The sludge gripping apparatus according to any one of claims 1-3, characterized in that, Also includes: The display screen has its input terminal communicatively connected to the output terminal of the controller.

8. The sludge gripping apparatus according to any one of claims 1-3, characterized in that, Also includes: A leakage current protection device is installed inside the control cabinet.

9. The sludge handling equipment according to any one of claims 1-3, characterized in that: The level meters are arranged at different positions in the sludge storage tank, and the output ends of the level meters are connected to the input end of the controller.

10. The sludge gripping apparatus according to any one of claims 1-3, characterized in that, Also included are: An alarm, the input end of which is connected to the output end of the controller.

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