CN213228910U - Explosion-proof crawler-type storage tank cleaning operation robot - Google Patents

Abstract

The utility model discloses an explosion-proof crawler-type storage tank cleaning operation robot, push away shovel, vertical rotation axle, horizontal rotation axle, vacuum suction hole, prevent that static rubber, bottom plate special use take out washing head, robot operating handle and image display ware, hydraulic power unit, control platform, high definition explosion-proof night vision camera including high-pressure cleaning head, track, speciality. The power output uses a hydraulic pump station, the crawler belt is a rubber crawler belt to prevent sparks generated by collision with metal, a safe voltage high-definition explosion-proof camera is arranged, and parts in contact with the storage tank are made of aluminum alloy or rubber materials, so that the cleaning robot has an explosion-proof function; the special design of the push shovel can complete the function of quick suction and cleaning under the condition of thick oil stain in the storage tank; the design of the external operation control platform of the robot integrates three subunits of a hydraulic pump station, a robot operating handle and an image display, and achieves the purposes of being convenient to carry, operate and maintain.

Description

Explosion-proof crawler-type storage tank cleaning operation robot

Technical Field

The utility model belongs to be used for storage tank water washing, oil recovery, hazardous waste to retrieve, advance the automatic cleaning equipment field that the jar cleaned in the petrochemical industry storage tank machinery washs the construction, relate to an explosion-proof crawler-type storage tank cleaning robot.

Background

Storage tank cleaning operation is more common in petrochemical industry, generally is that the workman gets into and carries out mechanical cleaning in the storage tank to satisfy the used repeatedly demand of storage tank, but personnel advance the jar operation and have direct and jar interior dangerous chemical, oil contact, cause easily risk and hidden danger such as spark, explosion that personnel stifle, poisoning and static brought. The traditional cleaning robot is not suitable for cleaning operation of the storage tank, the main reason is that explosion-proof design is not carried out, so that great potential safety hazards exist, and the robot cannot be popularized and used in a large area directly. Furthermore, the traditional storage tank cleaning robot has a design leak of incomplete cleaning.

SUMMERY OF THE UTILITY MODEL

In order to solve the shortcomings and shortcomings of the prior art, the utility model provides an explosion-proof crawler-type storage tank cleaning robot.

An explosion-proof crawler-type storage tank cleaning robot comprises a hydraulic pump station, a control platform, a robot and external equipment pipeline quick connection interface, a cleaning robot, an explosion-proof crawler robot, a special push shovel, a high-pressure cleaning head, a high-definition explosion-proof night vision camera, a special pumping and cleaning head for a bottom plate, a robot operating handle and an image display; the base of the anti-explosion tracked robot is provided with a driving wheel and a driven wheel, and the driving wheel and the driven wheel are fixed on the track; the special push shovel comprises vacuum suction holes, anti-static rubber, a fixed support, a pipeline interface and a vacuum cavity, the anti-static rubber is fixed at the bottom end of the special push shovel, a certain number of vacuum suction holes are fixedly formed above the anti-static rubber, the vacuum suction holes are connected with the vacuum cavity on the back of the special push shovel, the fixed support is arranged above the back of the special push shovel, the special push shovel is fixed on the anti-explosion tracked robot, and the pipeline interface is arranged below the fixed support on the back of the special push shovel; the high-pressure cleaning head is fixed at the top end of the explosion-proof tracked robot and comprises a vertical rotating shaft and a horizontal rotating shaft, the high-pressure cleaning head moves on the vertical rotating shaft and the horizontal rotating shaft, and the high-pressure cleaning head can automatically rotate by 360 degrees; the high-definition anti-explosion night vision camera and the high-pressure cleaning head are coaxially fixed at the top end of the anti-explosion tracked robot; the control platform integrates three subunits of a hydraulic pump station, a robot operating handle and an image display, and is connected with a quick connection interface of an external equipment pipeline by a robot positioned at the tail part of the explosion-proof crawler robot.

Preferably, the special pumping and washing head for the bottom plate comprises a universal wheel, a vacuum cavity, a vacuum suction opening, a rubber sealing ring, a pipeline interface and a fixed connecting frame, and the special pumping and washing head for the bottom plate is connected with the explosion-proof tracked robot through the fixed connecting frame and can be replaced; the vacuum suction port is downward and has a certain opening shape, the vacuum suction port is connected with a rear end vacuum cavity, the vacuum suction port is fixed by a fixed connecting frame, and the position of the vacuum suction port away from the ground is adjustable; a rubber sealing ring is fixed on the periphery of the vacuum suction port; the back of the special pumping and washing head of the bottom plate is provided with a pipeline interface, and the front end of the special pumping and washing head is fixedly provided with four universal wheels.

Preferably, the vacuum suction opening is rectangular.

Preferably, the special push shovel is made of aluminum alloy.

Preferably, the material of the crawler belt is rubber.

Preferably, the high-definition anti-explosion night vision camera can rotate 360 degrees automatically, moves along with the high-pressure cleaning head, and transmits image data to the control platform.

Preferably, the high-definition explosion-proof night vision camera transmits the influence data to an image display of the control platform, the robot operating handle is manually operated outside the oil storage tank, and the control platform transmits the operation information to the hydraulic pump station to control the advancing track of the robot.

The utility model discloses the theory of operation: the robot for mechanical cleaning of the explosion-proof crawler-type storage tank enters the tank from a manhole of a side wall after the mechanical cleaning operation of the storage tank is assembled and debugged outside the tank, a high-definition explosion-proof night vision camera is arranged at the upper end of the robot, the camera transmits the data of the condition in the tank to an image display of a control platform outside the tank in real time, personnel finish the advancing, retreating, steering and other actions of the robot through an operating handle, meanwhile, a high-pressure cleaning head is arranged at the upper end of the robot and is coaxial with the camera, 360-degree rotation blind areas can be avoided, the tank bottom plate and the wall plate are all-directionally washed through supplementary adjustment of the advancing direction of the robot, and after washing, the effect. The front end of the robot can select to install two cleaning and sucking modules according to the amount of the dirt in the tank, when the amount of the dirt is thick, a special push shovel is used for sucking a component firstly, and then a special bottom plate suction head is selected for combined pollution discharge, so that the problem that the dirt cannot be completely sucked and washed by simple suction when the amount of the dirt is thick is solved; the robot can finish the recovery and the transfer of the sump oil, the sewage and the dirt at the bottom of the tank to the outside of the tank for centralized storage by using the vacuum suction system during the stopping or advancing, the cleaning and the cleaning of the tank wall and the like can be finished, the robot can discharge from a manhole of a side wall after the completion of the work, and the various process conversion works during the debugging and the cleaning of the whole construction content are finished.

The utility model discloses the beneficial effect who reaches is: 1. the utility model has the explosion-proof function, the power output uses the hydraulic motor, the crawler belt uses the rubber crawler belt to prevent the spark from generating by the collision with the metal, the safety voltage high-definition explosion-proof camera is equipped, the part contacting with the storage tank uses the aluminum alloy or the rubber material, so that the cleaning robot of the utility model has the explosion-proof function, and is suitable for the cleaning function of the chemical flammable and explosive storage tank; 2. the utility model designs the special push shovel which is provided with the vacuum suction hole, thereby being capable of finishing the rapid suction and cleaning function under the condition of thick oil stain in the storage tank; 3. the utility model designs a high-pressure cleaning head which can rotate 360 degrees, and a high-definition anti-explosion night vision camera which can move along with the high-pressure cleaning head, and transmits the cleaning effect back to the console in time, so as to be convenient for confirming whether the cleaning is complete; 4. the design of the external operation control platform of the robot integrates three subunits of a hydraulic pump station, a robot operating handle and an image display, thereby achieving the purposes of convenient transportation, operation and maintenance; 5. the utility model discloses use hydraulic motor to provide power, the explosion-proof track robot advancing direction of image control of operation personnel through image transmission system real-time transmission outside the jar, dispose high-pressure cleaning system, push away and sweep system, vacuum suction system on the robot simultaneously, three major systems mutually support in with jar sump oil, oily sewage, dirty sediment move to the jar to this avoids storage tank mechanical cleaning process personnel to advance jar and cleans the operation risk of inspection, personnel intensity of labour reduces, guarantee storage tank mechanical cleaning operation safety.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a perspective view of the whole apparatus;

FIG. 2 is a schematic view of a high pressure cleaning head;

FIG. 3 is a schematic view of a special push shovel;

FIG. 4 is a front view of the featured push shovel;

FIG. 5 is a right side view of the featured push shovel;

FIG. 6 is a schematic view of a sole plate dedicated pump head;

FIG. 7 is a bottom view of the sole plate dedicated pump-washing head;

FIG. 8 is a schematic view of an explosion-proof tracked robot base;

FIG. 9 is a schematic view of a control platform;

in the figure: 1. a high pressure cleaning head; 2. a crawler belt; 3. a special push shovel; 11. a vertical rotation axis; 12. a horizontal rotation axis; 31. a vacuum suction hole; 32. antistatic rubber; 33. fixing a bracket; 34. a pipeline interface; 35. A vacuum chamber; 4. the special pumping and washing head for the soleplate; 41. a universal wheel; 42. a second fixed connecting frame; 43. a second pipeline interface; 44. a rubber seal ring; 45. a vacuum suction port; 46. a second vacuum cavity; 21. a driven wheel; 22. a driving wheel; 5. the robot and the external equipment pipeline are connected with an interface quickly; 6. a robot operating handle and an image display; 7. a hydraulic pump station; 8. a control platform; 9. high-definition explosion-proof night vision camera.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

An explosion-proof crawler-type storage tank cleaning robot comprises a high-pressure cleaning head 1, a crawler 2, a special push shovel 3, a vertical rotating shaft 11, a horizontal rotating shaft 12, a vacuum suction hole 31, anti-static rubber 32, a fixed support 33, a pipeline interface 34, a vacuum cavity 35, a special bottom plate suction cleaning head 4, a universal wheel 41, a fixed connection frame II 42, a pipeline interface II 43, a rubber sealing ring 44, a vacuum suction port 45, a vacuum cavity II 46, a driven wheel 21, a driving wheel 22, a robot and external equipment pipeline quick connection interface 5, a robot operating handle and image display 6, a hydraulic pump station 7, a control platform 8 and a high-definition explosion-proof night vision camera 9. The base of the anti-explosion tracked robot is provided with a driving wheel 22 and a driven wheel 21, and the driving wheel and the driven wheel are fixed on the track 2; the special push shovel 3 comprises a vacuum suction hole 31, anti-static rubber 32, a fixed support 33, a pipeline interface 34 and a vacuum cavity 35, the anti-static rubber is fixed at the bottom end of the special push shovel, a certain number of vacuum suction holes are fixedly arranged above the anti-static rubber, the vacuum suction holes are connected with the vacuum cavity on the back of the special push shovel, the fixed support is arranged above the back of the special push shovel, the special push shovel is fixed on the anti-explosion tracked robot, and the pipeline interface is arranged below the fixed support on the back of the special push shovel; the high-pressure cleaning head 1 is fixed at the top end of the explosion-proof track robot and comprises a vertical rotating shaft 11 and a horizontal rotating shaft 12, the high-pressure cleaning head moves on the vertical rotating shaft and the horizontal rotating shaft, and the high-pressure cleaning head can automatically rotate for 360 degrees; the high-definition anti-explosion night vision camera 9 and the high-pressure cleaning head are coaxially fixed at the top end of the anti-explosion tracked robot; the control platform 8 integrates three subunits of a hydraulic pump station 7, a robot operating handle and an image display 6, and the robot and the external equipment are connected through a robot and external equipment pipeline quick connection interface 5 positioned at the tail of the robot. The special pumping and washing head 4 for the bottom plate comprises a universal wheel 41, a second vacuum cavity 46, a vacuum pumping port 45, a rubber sealing ring 44, a second pipeline interface 43 and a second fixed connecting frame 42, and the special pumping and washing head for the bottom plate is connected with the explosion-proof tracked robot through the fixed connecting frame and can be replaced; the vacuum suction port is downward and has a certain opening shape, the vacuum suction port is connected with a rear end vacuum cavity, the vacuum suction port is fixed by a fixed connecting frame, and the position of the vacuum suction port away from the ground is adjustable; a rubber sealing ring is fixed on the periphery of the vacuum suction port; the back of the special pumping and washing head of the bottom plate is provided with a pipeline interface, the front end of the special pumping and washing head is fixedly provided with four universal wheels, and a vacuum suction port is designed to be rectangular in order to ensure the suction efficiency. Power take off uses hydraulic motor, and the track is selected for use the rubber track to prevent to produce the spark with the metal collision, is equipped with the explosion-proof camera of safe voltage high definition, uses aluminum alloy or rubber material with the part of storage tank contact, makes the utility model discloses a cleaning robot possesses explosion-proof function, is applicable to the cleaning function of the flammable and explosive article storage tank of chemical industry. The high-pressure cleaning head can rotate by 360 degrees, and the high-definition anti-explosion night vision camera is coaxially designed, can move along with the high-pressure cleaning head, and transmits the cleaning effect back to the console, so that whether the cleaning is complete or not can be conveniently confirmed. The design of the external operation control platform of the robot integrates three subunits of a hydraulic pump station, a robot operating handle and an image display, and achieves the purposes of being convenient to carry, operate and maintain. The hydraulic motor is used for providing power, an operator controls the advancing direction of the anti-explosion crawler robot through images transmitted by the image transmission system in real time outside the tank, meanwhile, the robot is provided with the high-pressure cleaning system, the pushing and sweeping system and the vacuum suction system, and the three systems are mutually matched to transfer dirty oil, oily sewage and dirty slag in the tank into the tank, so that the operation risk of cleaning and checking the tank when the operator enters the tank in the mechanical cleaning process of the storage tank is avoided, the labor intensity of the operator is reduced, and the mechanical cleaning operation safety of the storage tank is guaranteed.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides an explosion-proof crawler-type storage tank cleaning operation robot, includes hydraulic power unit, control platform, robot and external equipment pipeline high-speed joint interface, cleaning robot, its characterized in that: the device also comprises an explosion-proof tracked robot, a special push shovel, a high-pressure cleaning head, a high-definition explosion-proof night vision camera, a special pumping and cleaning head for the bottom plate, a robot operating handle and an image display; the base of the anti-explosion tracked robot is provided with a driving wheel and a driven wheel, and the driving wheel and the driven wheel are fixed on the track; the special push shovel comprises vacuum suction holes, anti-static rubber, a fixed support, a pipeline interface and a vacuum cavity, wherein the anti-static rubber is fixed at the bottom end of the special push shovel, a certain number of vacuum suction holes are fixedly formed above the anti-static rubber, the vacuum suction holes are connected with the vacuum cavity on the back of the special push shovel, the fixed support is arranged above the back of the special push shovel, the special push shovel is fixed on the anti-explosion tracked robot, and the pipeline interface is arranged below the fixed support on the back of the special push shovel; the high-pressure cleaning head is fixed at the top end of the explosion-proof tracked robot and comprises a vertical rotating shaft and a horizontal rotating shaft, the high-pressure cleaning head moves on the vertical rotating shaft and the horizontal rotating shaft, and the high-pressure cleaning head can automatically rotate by 360 degrees; the high-definition anti-explosion night vision camera and the high-pressure cleaning head are coaxially fixed at the top end of the anti-explosion tracked robot; the control platform integrates three subunits of a hydraulic pump station, a robot operating handle and an image display, and is connected with a quick connection interface of an external equipment pipeline by a robot positioned at the tail part of the explosion-proof crawler robot.

2. The robot for cleaning the explosion-proof crawler-type storage tank of claim 1, wherein: the special pumping washing head for the bottom plate comprises universal wheels, a vacuum cavity, a vacuum suction port, a rubber sealing ring, a pipeline interface and a fixed connecting frame, and is connected with the explosion-proof tracked robot by the fixed connecting frame and can be replaced; the vacuum suction port is downward and has a certain opening shape, the vacuum suction port is connected with a rear end vacuum cavity, the vacuum suction port is fixed by a fixed connecting frame, and the position of the vacuum suction port away from the ground is adjustable; a rubber sealing ring is fixed on the periphery of the vacuum suction port; the back of the special pumping and washing head of the bottom plate is provided with a pipeline interface, and the front end of the special pumping and washing head is fixedly provided with four universal wheels.

3. The robot for cleaning the explosion-proof crawler-type storage tank as recited in claim 2, wherein: the vacuum suction port is rectangular.

4. The robot for cleaning the explosion-proof crawler-type storage tank of claim 1, wherein: the special push shovel is made of aluminum alloy.

5. The robot for cleaning the explosion-proof crawler-type storage tank of claim 1, wherein: the track is made of rubber.

6. The robot for cleaning the explosion-proof crawler-type storage tank of claim 1, wherein: the high-definition anti-explosion night vision camera can rotate automatically by 360 degrees, moves along with the high-pressure cleaning head and transmits image data to the control platform.

7. An explosion-proof crawler-type tank cleaning robot as claimed in claim 1 or 6, wherein: the high-definition explosion-proof night vision camera transmits influence data to an image display of the control platform, the robot operating handle is manually operated outside the oil storage tank, and the control platform transmits the operation information to the hydraulic pump station to control the advancing track of the robot.

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