CN111687848A - Oil tank cleaning robot - Google Patents
Oil tank cleaning robot Download PDFInfo
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- CN111687848A CN111687848A CN201910184857.6A CN201910184857A CN111687848A CN 111687848 A CN111687848 A CN 111687848A CN 201910184857 A CN201910184857 A CN 201910184857A CN 111687848 A CN111687848 A CN 111687848A
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- joint
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- cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Cleaning In General (AREA)
Abstract
The invention provides an oil tank cleaning robot which is characterized by comprising a crawler, a mechanical arm, a cleaning device, a cable disc, a control terminal, an air pump and a water pump, wherein the mechanical arm and the cleaning device are arranged on the crawler; the controller is respectively connected with the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the control terminal respectively controls the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the water pump is connected with the cleaning device through a water delivery pipe, and the water delivery pipe is wound on the cable tray; the invention relates to an oil tank cleaning robot, which is a mechanical and intelligent oil tank cleaning tool and can replace a person to freely move in a tank to scatter, clean or suck out sediments. The invention replaces manual cleaning to improve the recovery rate and cleaning efficiency of crude oil, improve the cleanliness of the oil tank, reduce the pollution of dirty oil, sewage and waste gas to the environment, reduce operation accidents and realize safe, healthy and environment-friendly cleaning.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to an oil tank cleaning robot.
Background
At present, in the petrochemical industry of China, because the quality of oil products is difficult to guarantee, a large amount of oil sludge is generated in an oil tank, the quality of the oil products is influenced, and the use of oil storage equipment is also influenced. Because high-concentration oil gas is easy to explode due to open fire or blind fire, the cleaning of the bottom mud of the oil tank is dangerous and heavy work, which is usually manual work in the past, and has high labor intensity, low working efficiency and easy accident initiation.
With the construction and energy shortage of large-scale petroleum tanks in China and the increasing attention on the environmental protection problem, the traditional manual oil tank cleaning method does not meet the objective requirements of environment and development, closed full-automatic mechanical cleaning equipment which does not need to be accessed by people must be researched and developed and used to replace manual cleaning, so that the recovery rate and cleaning efficiency of crude oil are improved, the cleanliness of the oil tanks is improved, the pollution of dirty oil, sewage and waste gas to the environment is reduced, meanwhile, the operation accidents are reduced, and the safe, healthy and environment-friendly cleaning is realized.
Disclosure of Invention
According to the technical problem, the invention provides an oil tank cleaning robot which is characterized by comprising a crawler, a mechanical arm, a cleaning device, a cable tray, a control terminal, an air pump and a water pump, wherein the mechanical arm and the cleaning device are arranged on the crawler; the controller is respectively connected with the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the control terminal respectively controls the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the water pump is connected with the cleaning device through a water delivery pipe, and the water delivery pipe is wound on the cable tray;
the crawler is a movable carrier of the oil tank cleaning robot and is used for walking in the oil tank;
the control terminal is used for sending a control instruction to the robot and collecting sensor data;
the air pump is used for providing high-pressure air for the pneumatic actuator;
the water pump is used for providing high-pressure water flow for the pulse nozzle;
the cable reel is used for winding the electric wire and the water delivery pipe together;
the crawler comprises a vehicle body and a driving module, wherein the left driving module and the right driving module are installed on the vehicle body, the left driving module and the right driving module have the same structure, and the left driving module consists of a driving motor, a driving bevel gear, a driven bevel gear, a straight gear, a rack and wheels; one end of the driving motor is fixed on the rack through a bolt, the other end of the driving motor is fixedly connected with the driving bevel gear through a key, the driving bevel gear is meshed with the driven bevel gear, the driven bevel gear is connected with the straight gear, the straight gear is connected with the wheel, every two straight gears 1-5 are meshed, and finally the transmission of the motor is transmitted to the wheel;
the mechanical arm comprises four parts, namely a static platform, a shoulder joint, an elbow joint and a wrist joint, wherein the static platform is a frame of the whole mechanical arm and is fixed on a crawler through bolts, the shoulder joint and the elbow joint are fixed on the upper side of the static platform and are respectively connected with the wrist joint;
the shoulder joint is composed of a shoulder joint driving cylinder, a shoulder joint left skeleton, a shoulder joint right skeleton and a fixed support; the bottom of the shoulder joint driving cylinder is connected with the static platform through a fixed support to form a revolute pair, and the top of the shoulder joint driving cylinder is connected with the left skeleton of the shoulder joint and the right skeleton of the shoulder joint through bolts and sleeves to form a revolute pair; the left shoulder joint skeleton and the right shoulder joint skeleton are connected with the static platform through a fixed support to form a revolute pair;
the elbow joint consists of an elbow joint driving cylinder, an elbow joint left skeleton and an elbow joint right skeleton;
the bottom of the elbow joint driving cylinder is connected with the left bone of the shoulder joint and the right bone of the shoulder joint through bolts and sleeves to form a revolute pair; the top of the elbow joint driving cylinder is connected with the elbow joint left skeleton and the elbow joint right skeleton through bolts and sleeves to form a revolute pair; the elbow joint left bone and the elbow joint right bone are connected with the shoulder joint left bone and the shoulder joint right bone revolute pair through bolts and sleeves; the elbow joint driving cylinder is used as a driving part of the elbow joint and can drive the elbow skeleton to do up-and-down swinging motion relative to the static platform;
the wrist joint consists of a wrist joint driving cylinder, a wrist joint left skeleton and a wrist joint right skeleton; the bottom of the wrist joint driving cylinder is connected with the elbow joint left skeleton and the elbow joint right skeleton through bolts and sleeves to form a revolute pair; the top of the wrist joint driving cylinder is connected with a left bone of the wrist joint and a right bone of the wrist joint through bolts and sleeves to form a revolute pair; the left skeleton and the right skeleton of the wrist joint are connected with the left skeleton and the right skeleton of the elbow joint through bolts and sleeves; the wrist joint driving cylinder is used as a driving part of the wrist joint and can drive the wrist skeleton to swing left and right relative to the static platform;
the cleaning device comprises a disc brush driving mechanism, a left cleaning disc brush and a right cleaning disc brush, wherein the left cleaning disc brush and the right cleaning disc brush are fixed on the disc brush driving mechanism through bolts, and the disc brush driving mechanism transmits transmission to the left cleaning disc brush and the right cleaning disc brush through gears;
the disc brush driving mechanism consists of a pneumatic motor, a bracket, a belt pulley, a reversing gear, a left disc brush driving gear, a left high-pressure nozzle, a tensioning wheel, a right high-pressure nozzle and a synchronous belt; the belt wheel comprises a belt wheel A, a belt wheel B and a belt wheel C, the support is a T self-propelled belt, a mounting hole is formed in the upper side of the support, a pneumatic motor is mounted on the rear side of the mounting hole in the upper portion of the support, the belt wheel A is mounted on the front side of the pneumatic motor, a left high-pressure nozzle and a right high-pressure nozzle are mounted in the mounting hole in one end of the lower side of the support respectively, a left disc brush driving gear is mounted on the rear side of the left high-pressure nozzle, a reversing gear is mounted in the mounting hole in one side of the left disc brush driving gear and meshed with the left disc brush driving gear, a belt wheel B is mounted on the front side of the left disc brush driving gear and fixedly connected with the reversing gear, a belt wheel C is mounted on the rear side of the right high-pressure nozzle, the belt wheel A, the belt wheel B and, the left cleaning disc brush is connected with a left disc brush driving gear, the water pump is connected with a left high-pressure nozzle and a right high-pressure nozzle through a water pipeline, and the tensioning wheel, the belt pulley A, the belt pulley B and the belt pulley are connected through a synchronous belt.
The invention has the beneficial effects that: the invention relates to an oil tank cleaning robot, which is a mechanical and intelligent oil tank cleaning tool and can replace a person to freely move in a tank to scatter, clean or suck out sediments. The invention replaces manual cleaning to improve the recovery rate and cleaning efficiency of crude oil, improve the cleanliness of the oil tank, reduce the pollution of dirty oil, sewage and waste gas to the environment, reduce operation accidents and realize safe, healthy and environment-friendly cleaning.
The oil tank cleaning robot provided by the invention has the characteristics of small volume, light weight, flexible and stable movement, wide cleaning range and the like. The crawler is used as a moving carrier for walking in the oil tank, carries various sensor modules, can adapt to the environment inside the oil tank, can move flexibly and turn in place in the oil tank, has high integration level due to small volume, can enter the oil tank through a manhole, and has the advantages of flexible movement, strong maneuverability and the like; the mechanical arm and the cleaning device are both arranged on the crawler; the mechanical arm comprises a shoulder joint driving cylinder, an elbow joint driving cylinder and a wrist joint driving cylinder, 3 degrees of freedom are formed, the structure is simple and compact, the operation is flexible, the moving space is large, the mechanical arm is driven by the cylinders, the load capacity is strong, and the mechanical arm is safe and reliable; the integrated disc brush and the high-pressure nozzle in the flying cleaning device can effectively scatter, clean and recover oil sludge; the cable reel can integrally wind the electric wires and the pipelines together so as to be convenient to put away and put away; the control terminal is used for sending a control instruction to the robot and collecting sensor data; the air pump is used for providing high-pressure air for the pneumatic actuator; the water pump is used for providing high-pressure water flow for the pulse nozzle.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a structural view of the tank system of the present invention.
Fig. 3 is a schematic structural diagram of the crawler of the present invention.
FIG. 4 is a schematic diagram of the present invention.
Fig. 5 is a view showing the structure of the robot arm of the present invention.
Fig. 6 is a view showing a structure of a shoulder joint of the present invention.
Fig. 7 is a view showing the construction of the elbow joint of the present invention.
FIG. 8 is a view showing the structure of the wrist joint of the present invention.
FIG. 9 is a view showing the structure of the cleaning apparatus of the present invention.
Fig. 10 is a structural view of a disk brush driving mechanism of the present invention.
Fig. 11 is a top view of the disk brush drive mechanism of the present invention.
As shown in the figure, the crawler 1, the mechanical arm 2, the cleaning device 3, the vehicle body 1-1, the left driving module 2-2, the right driving module 3-3, the driving motor 1-2-1, the driving bevel gear 1-2-2, the driven bevel gear 1-2-3, the straight gear 1-2-4, the frame 1-2-5, the wheel 1-2-6, the static platform 2-1, the shoulder joint 2-2, the elbow joint 2-3, the wrist joint 2-4, the shoulder joint driving cylinder 2-2-1, the shoulder joint left skeleton 2-2-2, the shoulder joint right skeleton 2-2-3, the fixed support 2-2-4, the elbow joint driving cylinder 2-3-1, the elbow joint left skeleton 2-3-2, the elbow joint left skeleton 2-2-2, 2-3-3 parts of elbow joint right skeleton, 2-4-1 parts of wrist joint driving cylinder, 2-4-2 parts of wrist joint left skeleton, 2-4-3 parts of wrist joint right skeleton, 3-1 parts of disc brush driving mechanism, 3-2 parts of left cleaning disc brush, 3-3 parts of right cleaning disc brush, 3-1-1 parts of pneumatic motor, 3-1-2 parts of bracket, 3-1-3 parts of belt wheel A, 3-1-4 parts of reversing gear, 3-1-5 parts of left disc brush driving gear, 3-1-6 parts of left high-pressure nozzle, 3-1-7 parts of tensioning wheel, 3-1-8 parts of right high-pressure nozzle, 3-1-9 parts of belt wheel B3, 3-1-10 parts of synchronous belt and 3-1-11 parts of belt wheel C3.
Detailed Description
Example 1
The invention provides an oil tank cleaning robot which is characterized by comprising a crawler 1, a mechanical arm 2, a cleaning device 3, a cable tray, a control terminal, an air pump and a water pump, wherein the mechanical arm 2 and the cleaning device 3 are arranged on the crawler 1; the controller is respectively connected with the air pump, the water pump, the crawler 1, the mechanical arm 2 and the cleaning device 3, the control terminal controls the air pump, the water pump, the crawler 1, the mechanical arm 2 and the cleaning device 3, the water pump is connected with the cleaning device 3 through a water delivery pipe, and the water delivery pipe is wound on a cable tray;
the crawler 1 comprises a vehicle body 1-1 and a driving module, wherein a left driving module 1-2 and a right driving module 1-3 are installed on the vehicle body 1-1, the left driving module 1-2 and the right driving module 1-3 have the same structure, and the left driving module 1-2 comprises a driving motor 1-2-1, a driving bevel gear 1-2-2, a driven bevel gear 1-2-3, a straight gear 1-2-4, a rack 1-2-5 and wheels 1-2-6; one end of the driving motor 1-2-1 is fixed on the rack 1-2-5 through a bolt, the other end of the driving motor 1-2-1 is fixedly connected with the driving bevel gear 1-2-2 through a key, the driving bevel gear 1-2-2 is meshed with the driven bevel gear 1-2-3, the driven bevel gear 1-2-3 is connected with the straight gear 1-2-4, the straight gear 1-2-4 is connected with the wheel 1-2-6, the straight gears 1-2-41-5 are meshed in pairs, and finally the transmission of the motor is transmitted to the wheel 1-2-6;
the mechanical arm 2 is composed of four parts, namely a static platform 2-1, a shoulder joint 2-2, an elbow joint 2-3 and a wrist joint 2-4, the static platform 2-1 is a rack 1-2-5 of the whole mechanical arm 2, the static platform 2-1 is fixed on a crawler 1 through bolts, the shoulder joint 2-2 and the elbow joint 2-3 are fixed on the upper side of the static platform 2-1, and the shoulder joint 2-2 and the elbow joint 2-3 are respectively connected with the wrist joint 2-4;
the shoulder joint 2-2 consists of a shoulder joint driving cylinder 2-2-1, a shoulder joint left skeleton 2-2-2, a shoulder joint right skeleton 2-2-3 and a fixed support 2-2-4; the bottom of the shoulder joint driving cylinder 2-2-1 is connected with the static platform 2-1 through a fixed support 2-2-4 to form a revolute pair, and the top of the shoulder joint driving cylinder 2-2-1 is connected with a left shoulder joint skeleton 2-2 and a right shoulder joint skeleton 2-2-3 through bolts and sleeves to form a revolute pair; 2-2-2 parts of the left shoulder joint skeleton and 2-2-3 parts of the right shoulder joint skeleton form revolute pair connection with the static platform 2-1 through 2-2-4 parts of the fixed support;
the elbow joint 2-3 consists of an elbow joint driving cylinder 2-3-1, an elbow joint left skeleton 2-3-2 and an elbow joint right skeleton 2-3-3; the bottom of the elbow joint driving cylinder 2-3-1 is connected with a left shoulder joint skeleton 2-2-2 and a right shoulder joint skeleton 2-2-3 through bolts and sleeves to form a revolute pair; the top of the elbow joint driving cylinder 2-3-1 is connected with the elbow joint left skeleton 2-3-2 and the elbow joint right skeleton 2-3-3 through bolts and sleeves to form a revolute pair; the elbow joint left bone 2-3-2 and the elbow joint right bone 2-3-3 are connected with the shoulder joint left bone 2-2-2 and the shoulder joint right bone 2-2-3 revolute pair through bolts and sleeves; the elbow joint driving cylinder 2-3-1 is used as a driving part of the elbow joint 2-3 and can drive the elbow skeleton to do up-and-down swinging motion relative to the static platform 2-1;
the wrist joint 2-4 consists of a wrist joint driving cylinder 2-4-1, a wrist joint left skeleton 2-4-2 and a wrist joint right skeleton 2-4-3; the bottom of the wrist joint driving cylinder 2-4-1 is connected with an elbow joint left skeleton 2-3-2 and an elbow joint right skeleton 2-3-3 through bolts and sleeves to form a revolute pair; the top of the wrist joint driving cylinder 2-4-1 is connected with a left wrist joint skeleton 2-4-2 and a right wrist joint skeleton 2-4-3 through bolts and sleeves to form a revolute pair; 2-4-2 parts of the left wrist joint skeleton and 2-4-3 parts of the right wrist joint skeleton are connected with 2-3-2 parts of the left elbow joint skeleton and 2-3-3 revolute pairs of the right elbow joint skeleton through bolts and sleeves; the wrist joint driving cylinder 2-4-1 is used as a driving part of the wrist joint 2-4 and can drive the wrist skeleton to swing left and right relative to the static platform 2-1;
the cleaning device 3 consists of a disc brush driving mechanism 3-1, a left cleaning disc brush 3-2 and a right cleaning disc brush 3-3, the left cleaning disc brush 3-2 and the right cleaning disc brush 3-3 are fixed on the disc brush driving mechanism 3-1 through bolts, and the disc brush driving mechanism 3-1 transmits transmission to the left cleaning disc brush 3-2 and the right cleaning disc brush 3-3 through gears;
the disc brush driving mechanism 3-1 consists of a pneumatic motor 3-1-1, a bracket 3-1-2, a belt wheel, a reversing gear 3-1-4, a left disc brush driving gear 3-1-5, a left high-pressure nozzle 3-1-6, a tension wheel 3-1-7, a right high-pressure nozzle 3-1-8 and a synchronous belt 3-1-10; the belt wheel comprises a belt wheel A3-1-3, a belt wheel B3-1-9 and a belt wheel C3-1-11, the support 3-1-2 is a T-shaped self body, a mounting hole is formed in the upper side of the support 3-1-2, a pneumatic motor is mounted on the rear side of the mounting hole in the upper portion of the support 3-1-2, the belt wheel A3-1-3 is mounted on the front side of the pneumatic motor, a left high-pressure nozzle 3-1-6 and a right high-pressure nozzle 3-1-8 are respectively mounted in the mounting hole in one end of the lower side of the support 3-1-2, a left disc brush driving gear 3-1-5 is mounted on the rear side of the left high-pressure nozzle 3-1-6, a reversing gear 3-1-4 is mounted in the mounting hole in one side of the, the reversing gear 3-1-4 is meshed with the left disc brush driving gear 3-1-5, the front side of the left disc brush driving gear 3-1-5 is provided with a belt wheel B3-1-9, the belt wheel B3-1-9 is fixedly connected with the reversing gear 3-1-4, the rear side of the right high-pressure nozzle 3-1-8 is provided with a belt wheel C3-1-11, the belt wheel A3-1-3, the belt wheel B3-1-9 and the belt wheel C3-1-11 are connected through a synchronous belt 3-1-10, a tension wheel 3-1-7 is arranged in a mounting hole in the middle of the bracket 3-1-2, the right cleaning disc brush 3-3 is fixedly connected with the belt wheel C3-1-11, the left cleaning disc brush 3-2 is connected with the left disc brush driving gear 3-1-5, the pump is connected with the left high-pressure nozzle 3-1-6 and the right high-pressure nozzle 3-1-8 through water pipes. The pneumatic motor 3-1-1, the left high-pressure nozzle 3-1-6 and the right high-pressure nozzle 3-1-8 are fixedly connected with the bracket 3-1-2; the belt wheel A3-1-3, the reversing gear 3-1-4, the left disc brush driving gear 3-1-5, the tensioning wheel 3-1-7, the belt wheel B3-1-9 and the belt wheel C3-1-11 form a revolute pair connection with the support 3-1-2 through parts such as a sleeve, a bearing and the like.
Example 2
When in use, the invention is put into an oil tank to be cleaned, the control terminal controls the driving motors 1-2-1 in the left driving module 1-2 and the right driving module to drive the vehicle body 1-1 to move, when the crawler 1 moves, the condition in the oil tank is checked through the camera, when the crawler 1 moves to the position needing to be cleaned, the control terminal controls the shoulder joint driving cylinder 2-2-1, the elbow joint driving cylinder 2-3-1 and the wrist joint driving cylinder 2-4-1 to further drive the mechanical arm 2 to operate, the cleaning device 3 is convenient to clean the oil tank, the pneumatic motor 3-1-1 drives the belt wheel to rotate during cleaning, the rotation is transmitted to the other two synchronous belt wheels 3-1-10 under the transmission of the synchronous belts 3-1-10. The two cleaning disc brushes are symmetrically arranged at two sides of the bracket 3-1-2, wherein the right cleaning disc brush 3-3 is fixedly connected with the belt wheel B3-1-9, the same-direction rotation with the pneumatic motor 3-1-1 is realized, the belt wheel A3-1-3 is fixedly connected with the reversing gear 3-1-4, and the reversing gear 3-1-4 is meshed with the left cleaning disc brush driving gear 3-1-5 to drive the left cleaning disc brush 3-2 to rotate; the reverse rotation of the left cleaning disc brush 3-2 and the pneumatic motor 3-1-1 is realized through the reversing action of the reversing gear 3-1-4; the reverse rotation of the two cleaning disc brushes enables the oil stain to be swept to the same area. The invention replaces manual cleaning to improve the recovery rate and cleaning efficiency of crude oil, improve the cleanliness of the oil tank, reduce the pollution of dirty oil, sewage and waste gas to the environment, reduce operation accidents and realize safe, healthy and environment-friendly cleaning.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the invention has been described with respect to the above embodiments, it will be understood by those skilled in the art that the invention is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An oil tank cleaning robot is characterized by comprising a crawler, a mechanical arm, a cleaning device, a cable disc, a control terminal, an air pump and a water pump, wherein the mechanical arm and the cleaning device are arranged on the crawler; the controller is respectively connected with the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the control terminal respectively controls the air pump, the water pump, the crawler, the mechanical arm and the cleaning device, the water pump is connected with the cleaning device through a water pipe, the air pump is connected with the starting motor through a pneumatic pipe, and the water pipe is wound on the cable tray; the camera is installed on the upper side of the crawler and connected with the control terminal;
the crawler is a movable carrier of the oil tank cleaning robot and is used for walking in the oil tank;
the control terminal is used for sending a control instruction to the robot and collecting sensor data;
the air pump is used for providing high-pressure air for the pneumatic motor;
the water pump is used for providing high-pressure water flow for the pulse nozzle;
the cable reel is used for winding the electric wires and the water conveying pipe together.
2. The oil tank cleaning robot according to claim 1, wherein the crawler comprises a vehicle body and a driving module, the left driving module and the right driving module are mounted on the vehicle body, the left driving module and the right driving module are identical in structure, and the left driving module is composed of a driving motor, a driving bevel gear, a driven bevel gear, a straight gear, a frame and wheels; the utility model discloses a driving motor, including driving motor, straight-tooth gear, drive bevel gear, driven bevel gear, straight-tooth gear and wheel connection, driving motor one end is passed through the bolt fastening in the frame, the driving motor other end passes through key and drive bevel gear fixed connection, drive bevel gear and driven bevel gear meshing, driven bevel gear and straight-tooth gear connection, and straight-tooth gear and wheel connection, 1 two liang of meshing of straight-tooth gear finally transmit the transmission of motor for.
3. The oil tank cleaning robot as claimed in claim 1, wherein the mechanical arm is composed of four parts, namely a static platform, a shoulder joint, an elbow joint and a wrist joint, the static platform is a frame of the whole mechanical arm, the static platform is fixed on the crawler through bolts, the shoulder joint and the elbow joint are fixed on the upper side of the static platform, and the shoulder joint and the elbow joint are respectively connected with the wrist joint.
4. The oil tank cleaning robot according to claim 3, wherein the shoulder joint is composed of a shoulder joint driving cylinder, a shoulder joint left skeleton, a shoulder joint right skeleton and a fixed support; the bottom of the shoulder joint driving cylinder is connected with the static platform through a fixed support to form a revolute pair, and the top of the shoulder joint driving cylinder is connected with the left skeleton of the shoulder joint and the right skeleton of the shoulder joint through bolts and sleeves to form a revolute pair; the left bone of the shoulder joint and the right bone of the shoulder joint form revolute pair connection with the static platform through the fixed support.
5. The tank cleaning robot according to claim 3, wherein the elbow joint is composed of an elbow joint driving cylinder, an elbow joint left skeleton and an elbow joint right skeleton; the bottom of the elbow joint driving cylinder is connected with the left bone of the shoulder joint and the right bone of the shoulder joint through bolts and sleeves to form a revolute pair; the top of the elbow joint driving cylinder is connected with the elbow joint left skeleton and the elbow joint right skeleton through bolts and sleeves to form a revolute pair; the elbow joint left bone and the elbow joint right bone are connected with the shoulder joint left bone and the shoulder joint right bone revolute pair through bolts and sleeves; the elbow joint driving cylinder is used as an elbow joint driving part and can drive elbow bones to do up-and-down swinging motion relative to the static platform.
6. The oil tank cleaning robot according to claim 3, wherein the wrist joint is composed of a wrist joint driving cylinder, a wrist joint left skeleton and a wrist joint right skeleton; the bottom of the wrist joint driving cylinder is connected with the elbow joint left skeleton and the elbow joint right skeleton through bolts and sleeves to form a revolute pair; the top of the wrist joint driving cylinder is connected with a left bone of the wrist joint and a right bone of the wrist joint through bolts and sleeves to form a revolute pair; the left skeleton and the right skeleton of the wrist joint are connected with the left skeleton and the right skeleton of the elbow joint through bolts and sleeves; the wrist joint driving cylinder is used as a driving part of the wrist joint and can drive the wrist skeleton to swing left and right relative to the static platform.
7. The tank cleaning robot according to claim 1, wherein the cleaning device is composed of a disk brush driving mechanism, a left cleaning disk brush, and a right cleaning disk brush, the left cleaning disk brush and the right cleaning disk brush are fixed to the disk brush driving mechanism through bolts, and the disk brush driving mechanism transmits transmission to the left cleaning disk brush and the right cleaning disk brush through gears.
8. The tank cleaning robot according to claim 7, wherein the disc brush driving mechanism is composed of a pneumatic motor, a bracket, a pulley, a reversing gear, a left disc brush driving gear, a left high pressure nozzle, a tension pulley, a right high pressure nozzle, and a synchronous belt; the belt wheel comprises a belt wheel A, a belt wheel B and a belt wheel C, the support is a T self-propelled belt, a mounting hole is formed in the upper side of the support, a pneumatic motor is mounted on the rear side of the mounting hole in the upper portion of the support and connected with a gas pump through a pneumatic pipe, the front side of the pneumatic motor is provided with the belt wheel A, a left high-pressure nozzle and a right high-pressure nozzle are mounted in the mounting hole in one end of the lower side of the support respectively, a left disc brush driving gear is mounted on the rear side of the left high-pressure nozzle, a reversing gear is mounted in the mounting hole in one side of the left disc brush driving gear and meshed with the left disc brush driving gear, a belt wheel B is mounted on the front side of the left disc brush driving gear and fixedly connected with the reversing gear, a belt wheel C is mounted on the rear side of the right high-pressure nozzle, the tensioning wheel, the belt wheel A, the belt wheel B and the belt wheel are connected through a synchronous belt, the right cleaning disc brush is fixedly connected with the belt wheel C, the left cleaning disc brush is connected with the left disc brush driving gear, and the water pump is connected with the left high-pressure nozzle and the right high-pressure nozzle through a water pipeline.
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| CN201910184857.6A CN111687848B (en) | 2019-03-12 | 2019-03-12 | Oil tank cleaning robot |
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| CN201910184857.6A CN111687848B (en) | 2019-03-12 | 2019-03-12 | Oil tank cleaning robot |
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| CN111687848B CN111687848B (en) | 2023-05-02 |
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