Articulating Arm Cleaning Apparatus for Confined Tank Access

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Solution Overview

Problem

Conventional tank cleaning methods are labor-intensive, hazardous, and inefficient, often requiring manual operation in confined spaces with limited access and stability issues, leading to random and wasteful movement patterns.

Innovation Solution

A programmable, multi-axis articulating arm system with sensor and positioning components connected to a Programmable Logic Control device, allowing for precise, pre-programmed cleaning sequences and remote operation, reducing operator exposure and improving cleaning efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If conventional manual cleaning methods are used, then workers can directly clean tank interiors, but workers are exposed to dangerous environments and the process is labor-intensive and hazardous

Engineering Contradiction:

Improveworker exposure to dangerous environmentsVSAvoidmanual operation complexity

Core Design Contradiction:

Object-affected harmful factorsVSEase of operation

Solution Approach 1:

A remotely operated vehicle (ROV) with articulating arm and nozzle assembly serves as an intermediary device, allowing workers to control cleaning operations from a safe distance while the ROV performs the hazardous cleaning task inside confined tank spaces

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

Manual mechanical cleaning operations are replaced with an automated ROV system featuring programmable articulating arms and high-pressure fluid delivery, eliminating the need for workers to physically enter dangerous confined spaces

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Stability of the object's composition

If floor-mounted cleaning systems are used, then the system can be stable, but the system must be placed on the sludge/materials intended to be cleaned and must account for floor irregularities

Engineering Contradiction:

Improvesystem stabilityVSAvoidplacement flexibility

Core Design Contradiction:

Stability of the object's compositionVSAdaptability or versatility

Solution Approach 1:

A magnetic base acts as an intermediary mounting mechanism, allowing the ROV to attach to metal tank walls without contacting the sludge or floor irregularities, providing stable positioning while maintaining versatility in placement locations

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The mounting system transitions from floor-based (2D surface) to wall-based (vertical surface) attachment using magnetic forces, allowing the system to bypass floor-level contaminants and irregularities while achieving stable positioning

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Device complexity

If less bulky cleaning systems are used, then the system is easier to transport and assemble, but the system is insufficiently stable to withstand high water pressures necessary to fluidize settled solids

Engineering Contradiction:

Improvesystem assembly complexityVSAvoidwithstand high water pressure

Core Design Contradiction:

Device complexityVSStrength

Solution Approach 1:

The cleaning system is divided into modular segments (ROV body, articulating arm, nozzle assembly, magnetic base) that can be easily assembled and disassembled for transport, while each segment is engineered to withstand the required high water pressures when assembled together

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The articulating arm provides dynamic positioning capability, allowing the nozzle to be precisely positioned to deliver high-pressure water at optimal angles for fluidizing settled solids, while the magnetic base provides stable anchoring to withstand these high pressure forces

Inventive Principle:

Principle #15Dynamics

4Area of stationary object

If gamma jets with 360° spherical spray pattern are used, then the cleaning coverage is comprehensive, but the movement is random and wasted, and it is not possible to control the cycle once activated

Engineering Contradiction:

Improvecleaning coverage areaVSAvoidwasted fluid movement

Core Design Contradiction:

Area of stationary objectVSLoss of energy

Solution Approach 1:

The articulating arm provides dynamic, programmable positioning of the nozzle, allowing precise control of fluid delivery to target specific areas needing cleaning while avoiding random or wasted movement patterns

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system incorporates programmable control with the ability to monitor and control the cleaning cycle, allowing operators to stop, restart, or adjust the cleaning process based on observed results, eliminating the inability to control the cycle once activated

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11065655B2Apparatuses, systems, and methods for cleaning

Publication Date: 2021.07.20 HPC IND SERVICES LLC

AI summary

A cleaning apparatus includes a nozzle assembly and an arm supporting the nozzle assembly. In some embodiments, the arm includes a first rotatable arm member defining a first axis and a second rotatable arm member defining a second axis and connected to the first rotatable member. In certain examples, the first rotatable arm is rotatable about the first axis and the second rotatable arm is rotatable about the second axis. The cleaning apparatus also includes at least one sensor on the arm and configured to detect a position of the nozzle assembly based on rotation of the first rotatable arm or the second rotatable arm