CN201154480Y - Robot for cleaning sphere oil tank - Google Patents
Robot for cleaning sphere oil tank Download PDFInfo
- Publication number
- CN201154480Y CN201154480Y CNU2007201518899U CN200720151889U CN201154480Y CN 201154480 Y CN201154480 Y CN 201154480Y CN U2007201518899 U CNU2007201518899 U CN U2007201518899U CN 200720151889 U CN200720151889 U CN 200720151889U CN 201154480 Y CN201154480 Y CN 201154480Y
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Abstract
The utility model relates to a ball-shaped oil tank cleaning robot which essentially consists of a plurality of important mechanisms including a traveling mechanism, a lifting mechanism, rotary mechanisms, a swinging mechanism, an extending mechanism and a robot arm. The cleaning robot utilizes the lifting, the rotating and the swinging to guide a high-speed rotating brush at the end of the robot arm to execute the cleaning to an oil tank. Meanwhile, by adopting a traveling trolley, the bottom of the oil tank can also be cleaned. The robot is controlled by an electric motor to complete the cleaning task. The robot of the utility model utilizes the two rotary mechanisms, one is the major and first one while the other is the subordinate and second one to realize two cleaning performances. The robot also can utilize flexible guide wheels which can be spread and withdrew to realize the stability of the whole structure.
Description
Technical field
The utility model relates to a kind of mechanical automation cleaning technique that can clean the ball-type oil tank, especially diameter is 2-5m, and the cleaning of the little ball-type oil tank of bore.
Background technology
Oil tank heavy oil, oily wax etc. can occur in long-term use deposition causes the bulk deposition of oil dirt as can not in time clearing up, even produces hard scale, brings very big influence can for the quality of oil product.So the cleaning of oil tank becomes a problem that extensively exists.At present domestic all is to adopt manually to enter the oil tank cleaning, and this cleaning method is not only complicated, has a large amount of poisonous flammable explosive gas in the oil tank simultaneously, and there is very big potential safety hazard in the workman who enters the oil tank operation.Will use simultaneously professional equipments such as explosion-proof self priming pump, explosion-proof fan, explosion-proof instrument, operation protective face mask, gas explosimeter on cost, it is also very big therefore to spend financial resources.Also having a kind of method is that the robot that oil tank volume by Shanghai Communications University development detects usefulness is a kind of climbing robot, though also can be used as, this robot cleans the ball-type oil tank, but on practicality, reliability and efficient, climbing robot all can't be compared with polar coordinates robot.
Summary of the invention
The purpose of this utility model is that a kind of like this ball-type oil tank cleaning robot will be provided, and it can partly shrink folding, enters oil tank inside, and machinery is finished the work of scrubbing of ball-type oil tank wall after launching.
For achieving the above object, the utility model provides a kind of ball-type oil tank cleaning robot, it is by walking mechanism, elevating mechanism, rotating mechanism, swing mechanism, the several important mechanism of extension means and mechanical arm are formed, in a mechanical car by driven by motor, the one lead screw guide rails pair that is used for workbench lifting is housed on the vehicle body, be unlikely to topple in order to make the stable of entire mechanism simultaneously, be equipped with at mechanism's waist 4 supports of guide wheel are installed, adopt umbrella mechanism, the expansion and the withdrawal that move up and down and realize guide wheel of feed screw nut when utilizing lifting platform, 2 workbenches are equipped with in the top of leading screw, first platform is equipped with electric rotating machine and drives platform 2 rotations, utilize controll block control rotating speed of motor to realize the angle of platform 2 is controlled, platform 2 is equipped with motor and worm type of reduction gearing, and on shaft the installation manipulator arm.
The scheme that the utility model solves its technical problem is: in a mechanical dolly by driven by motor, a lead screw guide rails pair that is used for workbench lifting is housed on the vehicle body.Be unlikely to topple in order to make the stable of entire mechanism simultaneously, be equipped with at mechanism's waist 4 supports of guide wheel are installed, adopt umbrella mechanism, the expansion and the withdrawal that move up and down and realize guide wheel of feed screw nut when utilizing lifting platform.2 workbenches are equipped with in the top of leading screw, platform 1, platform structure is a partition type, is divided into fixture and movable piece, rotatable wheel frame is housed on fixture, wheel frame is connected by hinge with rod member with feed screw nut, and the rotation reductor is installed on the fixture of platform 1, is connected with platform 2 by shaft coupling, and drive its rotation, platform 2 adopts notching constructions, and motor and worm and gear speed-reduction apparatus are housed on the platform 2, at the output shaft part of deceleration device mechanical arm is housed.First platform is equipped with electric rotating machine and drives platform 2 rotations, utilizes controll block control rotating speed of motor to realize the angle of platform 2 is controlled.Platform 2 motors also are controllable motors, are used to control the pendulum angle of arm.Mechanical arm is installed on the shaft of platform 2, there is a platform that the stretching hand with arm required motor is housed in its end, the rise and fall of driven by motor leading screw rotating band movable wire thick stick nut, 2 support bars are housed on feed screw nut, the end of bar is equipped with a platform and is used to place the brush spinning motor, the rotation of driven by motor brush high speed.The machine man-hour, the installation position that utilizes the screw-threaded shaft elevator structure to control the mechanical arm on the workbench 2 is positioned at the center of spherical tank.The brush mechanical arm is extensile two-part structure, and first half is a guide rod for the screw mechanism latter half, and the telescopic scope of arm is 1.2-1.6m.Brush is that the even matter hairbrush that a usefulness motor rotating at high speed drives has high pressure nozzle jet cleaning liquid.
When dolly is positioned at tank bottom, utilize the swing of arm can roughly clean cross section about 300 degree, also have the bottom around 60 degree cross sections, the left and right sides do not clean to.At this time utilize dolly to walk about 30 degree to both sides respectively, allow robot be positioned at these two points and clean once respectively, thereby finish whole cleaning process.
The ball-type oil tank cleaning robot that the utility model provides is all good than climbing the wall cleaning robot on practicality, reliability and efficient, can substitute simultaneously the workman and enter oil tank inside and finish inner wall of oil tank and clean, and removes safety of workers hidden danger.
Description of drawings
Be the specific embodiment of the present invention to be illustrated below with reference to accompanying drawing, wherein:
Fig. 1 is a robot architecture figure front view:
Fig. 2 is the vertical view of robot.
The detailed structure view that Fig. 3 platform 1 is ((10) are fixture, and (11) are movable piece).
Fig. 4 platform 2 structure charts strengthen in order to make the arm pivot angle, and platform 2 has also been opened 2 grooves in both sides.
Figure (1), (2) are the mechanical arm structure chart among Fig. 5.(12) be the mechanical arm installing hole, (13) stretch motor, (14) brush spinning motor for mechanical arm.
Fig. 6 and Fig. 7 have illustrated concrete two kinds of specific embodiment of the present utility model respectively.
The specific embodiment
Two anglec of rotation sequencings according to rotation and pitching in the mechanism can be divided into the mechanism for implementing mode 2 kinds:
Fig. 6 has shown first kind of mode implementing: platform 2 is fixed in a position earlier, again the swing mechanism on the platform 2 is carried out guiding lentamente continuously brush to finish cleaning to a sector crosssection of oil tank, rotating mechanism drives platform 2 rotations one minute angle then, clean a covering of the fan again, up to the cleaning of finishing whole oil tank.
Fig. 7 has shown the second way of implementing: earlier the arm of swing is positioned at a fixing pivot angle, allows the rotating mechanism continuous motion, can finish the cleaning to a ring section of oil tank, the size that changes pivot angle is again finished cleaning process.
Claims (5)
1. ball-type oil tank cleaning robot, it is characterized in that it is by walking mechanism, elevating mechanism, rotating mechanism, swing mechanism, the several important mechanism of extension means and mechanical arm are formed, in a mechanical dolly (1) by driven by motor, the one lead screw guide rails pair that is used for workbench lifting is housed on the vehicle body, be equipped with at mechanism's waist 4 supports of guide wheel are installed, adopt umbrella mechanism, the expansion and the withdrawal that move up and down and realize guide wheel of feed screw nut when utilizing lifting platform, 2 workbenches are equipped with in the top of leading screw, first platform is equipped with electric rotating machine and drives platform 2 rotations, utilize controll block control rotating speed of motor to realize the angle of platform 2 is controlled, platform 2 (4) is equipped with motor and worm type of reduction gearing, and on shaft the installation manipulator arm.
2. ball-type oil tank cleaning robot according to claim 1, it is characterized in that, mechanical dolly (1) by driven by motor, lifting motor and screw pair (8) are housed on the vehicle body, the guide rail end that feed screw nut drives is equipped with workbench 1 (3), platform structure is a partition type, be divided into fixture (10) and movable piece (11), rotatable wheel frame (7) is housed on fixture, wheel frame is connected by hinge with rod member with feed screw nut, the rotation reductor is installed on the fixture of platform 1, be connected with platform 2 (4) by shaft coupling, and drive its rotation, platform 2 adopts notching construction, motor and worm and gear speed-reduction apparatus (9) are housed on the platform 2, mechanical arm are housed at the output shaft part of deceleration device.
3. ball-type oil tank cleaning robot according to claim 1, it is characterized in that, mechanical arm is installed on the shaft of platform 2, there is a platform that stretching hand with arm required motor (13) is housed in its end, the rise and fall of driven by motor leading screw (5) rotating band movable wire thick stick nut, 2 support bars are housed on feed screw nut, and the end of bar is equipped with a platform and is used to place brush spinning motor (14), driven by motor brush (6) high speed rotation.
4. ball-type oil tank cleaning robot according to claim 2, it is characterized in that the rod member that overhangs that can rotate is housed on the nut of screw pair (8), and it is connected with hinge with wheel frame (7), when feed screw nut moved, guide wheel can be realized launching and be shunk.
5. ball-type oil tank cleaning robot according to claim 1 is characterized in that, mechanical arm is extensile two-part structure, and first half is a guide rod for the screw mechanism latter half, and the telescopic scope of arm is 1.2-1.6m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201518899U CN201154480Y (en) | 2007-06-15 | 2007-06-15 | Robot for cleaning sphere oil tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201518899U CN201154480Y (en) | 2007-06-15 | 2007-06-15 | Robot for cleaning sphere oil tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201154480Y true CN201154480Y (en) | 2008-11-26 |
Family
ID=40102268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201518899U Expired - Fee Related CN201154480Y (en) | 2007-06-15 | 2007-06-15 | Robot for cleaning sphere oil tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201154480Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN103263996A (en) * | 2013-05-15 | 2013-08-28 | 山东科技大学 | Waist rotating mechanism of column type oil tank spraying robot |
| CN104475411A (en) * | 2014-10-29 | 2015-04-01 | 浙江海洋学院 | Oil tank cleaning equipment and a cleaning method |
| CN105032871A (en) * | 2015-06-25 | 2015-11-11 | 西安航空动力股份有限公司 | Cleaning device and method of finished oil tank |
| CN105903583A (en) * | 2016-06-24 | 2016-08-31 | 无锡海升高压泵有限公司 | High-pressure sprayer special for surface cleaning of pressure cylinder |
| CN107116574A (en) * | 2017-05-27 | 2017-09-01 | 芜湖星途机器人科技有限公司 | The robot trunk of anti-rolling |
| CN107127196A (en) * | 2017-05-31 | 2017-09-05 | 盐城市成功机械制造有限公司 | A kind of intelligent automation library clearing machine |
| WO2017161592A1 (en) * | 2016-03-22 | 2017-09-28 | 深圳市百事达卓越科技股份有限公司 | Reforming method for oil tank |
| CN107497722A (en) * | 2017-08-25 | 2017-12-22 | 吴文英 | A kind of machining inner wall cleaning device of container |
| CN107649466A (en) * | 2017-09-01 | 2018-02-02 | 赵卫祥 | A kind of petroleum pipeline tube cleaning arrangement |
| CN111671648A (en) * | 2020-07-31 | 2020-09-18 | 长沙丽颜网络科技有限公司 | System and process of Chinese medicinal composition for improving eyesight |
| CN112706169A (en) * | 2019-10-24 | 2021-04-27 | 上海交通大学 | Robot system suitable for cleaning rocket storage tank |
| CN115921380A (en) * | 2022-11-21 | 2023-04-07 | 安徽南都华拓新能源科技有限公司 | Carbon-coated aluminum foil high-voltage corona device for improving surface wetting tension |
-
2007
- 2007-06-15 CN CNU2007201518899U patent/CN201154480Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102513995B (en) * | 2011-12-09 | 2014-03-12 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
| CN103263996A (en) * | 2013-05-15 | 2013-08-28 | 山东科技大学 | Waist rotating mechanism of column type oil tank spraying robot |
| CN103263996B (en) * | 2013-05-15 | 2015-05-20 | 山东科技大学 | Waist rotating mechanism of column type oil tank spraying robot |
| CN104475411A (en) * | 2014-10-29 | 2015-04-01 | 浙江海洋学院 | Oil tank cleaning equipment and a cleaning method |
| CN105032871A (en) * | 2015-06-25 | 2015-11-11 | 西安航空动力股份有限公司 | Cleaning device and method of finished oil tank |
| WO2017161592A1 (en) * | 2016-03-22 | 2017-09-28 | 深圳市百事达卓越科技股份有限公司 | Reforming method for oil tank |
| CN105903583A (en) * | 2016-06-24 | 2016-08-31 | 无锡海升高压泵有限公司 | High-pressure sprayer special for surface cleaning of pressure cylinder |
| CN107116574B (en) * | 2017-05-27 | 2020-05-22 | 芜湖星途机器人科技有限公司 | Anti-rolling robot trunk |
| CN107116574A (en) * | 2017-05-27 | 2017-09-01 | 芜湖星途机器人科技有限公司 | The robot trunk of anti-rolling |
| CN107127196A (en) * | 2017-05-31 | 2017-09-05 | 盐城市成功机械制造有限公司 | A kind of intelligent automation library clearing machine |
| CN107127196B (en) * | 2017-05-31 | 2024-02-02 | 盐城市成功机械制造有限公司 | Intelligent automatic warehouse cleaning machine |
| CN107497722A (en) * | 2017-08-25 | 2017-12-22 | 吴文英 | A kind of machining inner wall cleaning device of container |
| CN107649466A (en) * | 2017-09-01 | 2018-02-02 | 赵卫祥 | A kind of petroleum pipeline tube cleaning arrangement |
| CN112706169A (en) * | 2019-10-24 | 2021-04-27 | 上海交通大学 | Robot system suitable for cleaning rocket storage tank |
| CN111671648A (en) * | 2020-07-31 | 2020-09-18 | 长沙丽颜网络科技有限公司 | System and process of Chinese medicinal composition for improving eyesight |
| CN115921380A (en) * | 2022-11-21 | 2023-04-07 | 安徽南都华拓新能源科技有限公司 | Carbon-coated aluminum foil high-voltage corona device for improving surface wetting tension |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081126 |