Tank cleaning, water washing robot

• US 4,817,653 A
• Filed: 01/22/1988
• Issued: 04/04/1989
• Est. Priority Date: 01/22/1988
• Status: Expired due to Term

• Current Assignee: PSC Industrial Outsourcing Incorporated
• Original Assignee: SERV-Tech, Inc. (Harsco Corporation)
• Inventors: Krajicek, Richard W., Cradeur, Robert R.
• Primary Examiner(s): Coe, Philip R.
• Application Number:
  US07/147,237
• Time in Patent Office: 438 Days
• Field of Search: 134/167 R, 134/168 R, 134/172, 134/180, 134/181, 239/120, 239/172, 239/175, 239/227, 239/722, 901/1, 901/43, 180/6.2
• US Class Current: 134/168.00R
• CPC Class Codes: B08B 9/0933 Removing sludge or the like from tank bottoms

Abstract

A water washing robot having features uniquely useful in cleaning the interior of oil storage tanks and which comprises components that can be independently moved inside a storage tank and conveniently assembled therein. The assembled robot comprises a frame, a positive displacement pump carried by the frame, an articulatable water washing nozzle detachably mounted on the frame for spraying water on the interior surfaces of a storage tank. The robot is hydraulically powered.

Claims

1. A water washing robot comprising:

a frame having robot articulation means detachably mounted thereon for moving said frame,

positive displacement water pump means carried by said frame,

nozzled articulatable water washing means detachably mounted on said frame for spraying water on a surface to be cleaned,

hydraulic power means operatively independently connected with said positive displacement water pump means, said robot articulation means and said articulatable water washing means for powering said pump means and articulating said frame and said water washing means,

hydraulic control means independently operatively connected with said hydraulic power means for regulating the operation thereof,

water supply means connected with said articulatable water washing means for delivering wash water thereto, and

water disposal means connected with said positive displacement water pump means for disposing of waste water.

2. A water washing robot as in claim 1 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame.

3. A water washing robot as in claim 1 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame, and

b. the nozzled articulatable water washing means includes water inlet means interconnectable with said water supply means, a horizontally rotatable elbow joint, a vertically rotatable elbow joint and a nozzled discharge pipe connected in series, and hydraulically powered motor means for rotating said elbow joints.

4. A water washing robot as in claim 1 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame,

b. the nozzled articulatable water washing means includes water inlet means interconnectable with said water supply means, a horizontally rotatable elbow joint, a vertically rotatable elbow joint and a nozzled discharge pipe connected in series, and hydraulically powered motor means for rotating said elbow joints and

c. the positive displacement water pump means comprises a reverse action positive displacement pump having a bottom port for normally receiving fluids to be pumped, a second rear axial port connected with said water disposal means for normally discharging fluids pumped by said positive displacement pump and a reverse action hydraulic motor operatively connected with said positive displacement pump for reversably powering said positive displacement pump.

5. A water washing robot comprising:

a. a frame,

b. articulation means detachably mounted on said frame for moving said frame about a lateral surface to be cleaned,

c. reverse action positive displacement water pump means carried by said frame, said water pump means having a bottom port for normally receiving fluids to be pumped by said water pump means and an axial rear port for normally discharging fluids pumped by said water pump means,

d. hydraulic pump motor means carried by said frame and operatively connected with said positive displacement water pump means for reversably powering said pump,

e. articulatable nozzled water-jetting means detachably mounted on said frame for spraying a surface to be cleaned,

f. water supply means connected with said water-jetting means for delivering water under pressure thereto,

g. first hydraulic motor means carried by said frame and operatively connected with said robot articulation means for moving the same,

h. first hydraulic motor control means remotely, operatively hydraulically connected with said first hydraulic motor means for regulating movement of said robot articulation means,

i. second hydraulic motor means carried by said water jetting means and operatively connected with said articulatable nozzle for moving the same,

j. second hydraulic motor control means remotely, operatively hydraulically connected with said second hydraulic motor means for regulating movement of said articulatable nozzle,

k. third reversible hydraulic pump motor means carried by said frame and operatively connected with said positive displacement water pump motor means for reversably powering said water pump means, and

l. third hydraulic motor control means remotely hydraulically operatively connected with said third hydraulic pump motor means for controlling the pumping action of said positive displacement water pump means.

6. A water washing robot as in claim 5 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame.

7. A water washing robot as in claim 5 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame, and

b. the reverse action positive displacement water pump means comprises a Moyno pump.

8. A water washing robot as in claim 5 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame,

b. the reverse action positive displacement water pump means comprises a Moyno pump, and

c. the nozzled articulatable water washing means includes water inlet means interconnectable with said water supply means, a horizontally rotatable elbow joint, a vertically rotatable elbow joint and a nozzled discharge pipe connected in series, and hydraulically powered motor means for rotating said elbow joints.

11. A water washing robot as in claim 5 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame, and

b. the reverse action positive displacement water pump means comprises a Moyno pump.

9. An exteriorly powered and remotely controllable water washing robot for washing the interior of an oil storage tank to be cleaned, said storage tank having an entryway adjacent the bottom thereof, said robot comprising:

a. a frame movable through said entryway into the inside of said tank,

b. robot articulation means detachably mounted on said frame for movement about said tank bottom,

c. reverse action positive displacement water pump means carried by said frame, said water pump means having a scoop-shaped bottom port for normally receiving fluids to be pumped by said water pump means and an axial rear port for normally discharging fluids pumped by said water pump means from said tank,

d. first reversible hydraulic pump motor means carried by said frame and operatively connected with said positive displacement water pump means for reversibly powering said positive displacement water pump,

e. first hydraulic motor control means remotely, hydraulically operatively connected with said first hydraulic motor means for controlling the pumping action of said positive displacement water pump means,

f. filter means mounted on said scoop for excluding unwanted solids from said positive displacement water pump,

g. articulatably nozzled water-jetting means detachably mounted on said frame for spraying a surface to be cleaned,

h. water supply means outside said tank fluidly interconnected through said entryway with said water-jetting means for delivering water under pressure thereto,

i. second hydraulic motor means carried by said frame and operatively connected with said robot articulation means for moving the same,

j. second hydraulic motor control means remotely, hydraulically operatively connected with said second hydraulic motor means for regulating movement of said robot articulation means,

k. third hydraulic motor means carried by said water jetting means and operatively connected with said articulatable nozzle for moving the same,

l. third hydraulic motor control means remotely, hydraulically operatively connected with said third hydraulic motor means for regulating movement of said articulatable nozzle,

m. water discharge means operatively connectable through said entryway with said positive displacement water pump for removing fluids discharged by said positive displacement water pump means.

10. A water washing robot as in claim 9 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame.

12. A water washing robot as in claim 9 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame,

b. the reverse action positive displacement water pump means comprises a Moyno pump, and

c. the nozzled articulatable water washing means includes water inlet means interconnectable with said water supply means, a horizontally rotatable elbow joint, a vertically rotatable elbow joint and a nozzled discharge pipe connected in series, and hydraulically powered motor means for rotating said elbow joints.

13. An exteriorly powered and remotely controllable water washing robot useful for washing the interior of an oil storage tank to be cleaned, said tank having an entryway adjacent the bottom thereof, said robot comprising:

a. an open-bottomed frame having opposed side panels and a top panel interconnecting said side panels, said frame having a height and width such that it can be moved into said storage tank through said entryway in said tank,

b. endless hydraulically powered robot articulation means detachably mountable on the outside of each of said side panels of said frame and insertable through said entryway in said tank,

c. reverse action positive displacement water pump means mounted in said frame between said side panels, said water pump means having a scoop-terminated bottom port for normally receiving fluids to be pumped by said water pump means and an axial rear port for normally discharging fluids pumped by said water pump means from said tank,

d. filter means mounted on the scoop of said bottom port for excluding unwanted solids from said positive displacement water pump means,

e. nozzled, articulatable water-jetting means insertable through said entryway in said tank and detachably mountable on the top of said top panel of said frame for washing the inside surfaces of said tank,

f. water supply means outside said tank in fluid communication with and connected through said entryway with said water-jetting means for delivering water under pressure thereto,

g. first reversible hydraulic pump motor means carried by said frame and operatively connected with said positive displacement water pump means for reversibly powering said positive displacement water pump,

h. first hydraulic motor control means remotely, hydraulically operatively connected with said first hydraulic motor means for controlling the pumping action of said positive displacement water pump means,

i. second hydraulic motor means carried by said frame and operatively connected with said robot articulation means for moving the same,

j. second hydraulic motor control means carried by said frame and operatively connected with said second hydraulic motor means for regulating movement of said robot articulation means,

k. third hydraulic motor means carried by said frame and operatively connected with said water jetting means for moving the same,

l. third hydraulic motor control means carried by said water jetting means and operatively connected with said third hydraulic motor means for regulating movement of said articulatable nozzle,

m. hydraulic power means outside said tank hydraulically connected through said entryway with said first, second and third hydraulic motor means, for independently driving each of the same,

n. hydraulic switch means insertable through said entryway and hydraulically operatively connected with said first, second and third hydraulic control means for regulating their hydraulic action, and

o. water discharge means operatively connectable through said entryway with said positive displacement water pump for removing fluids discharged by said positive displacement water pump means.

14. A water washing robot as in claim 13 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame, and

b. the reverse action positive displacement water pump means comprises a Moyno pump.

15. A water washing robot as in claim 13 wherein:

a. the robot articulation means comprises a pair of endless hydraulically powered articulation treads detachably mounted on each side of said frame,

b. the reverse action positive displacement water pump means comprises a Moyno pump, and

c. the nozzled articulatable water washing means includes water inlet means interconnectable with said water supply means, a horizontally rotatable elbow joint, a vertically rotatable elbow joint and a nozzled discharge pipe connected in series, and hydraulically powered moter means for rotating said elbow joints.

16. A water washing robot as in claim 13 wherein:

a. said frame includes a tubular water carrier mounted on a side thereon, and

b. a bottom half of a mating joint mounted on the top panel of said frame and fluidly interconnected with said tubular water carrier.

17. A water washing robot as in claim 13 wherein:

a. said frame includes a tubular water carrier mounted on a side, and

b. a bottom half of a mating joint mounted on the top panel of said frame and fluidly interconnected with said tubular water carrier, and

wherein said nozzled, articulatable water jetting means includes;

aa. a water-jet frame supported on said top panel of said frame,

bb. a water pipe mounted vertically in said water-jet frame,

cc. a top half of a mating joint mounted on the bottom of said water pipe for connection with said bottom half of said mating joint on said frame,

dd. a first horizontally rotatable elbow joint rotatably mounted on the top of said water pipe,

ee. a second vertically rotatable elbow joint rotatably mounted on the free end of said first elbow joint,

ff. a discharge conduit mounted on the free end of said second elbow joint, and

gg. a nozzle mounted on the free end of said discharge conduit.

18. In combination, a water washing robot, a power supply trailer and a hydraulic control means useful for washing the interior of an oil storage tank to be cleaned, said tank having an entryway adjacent the bottom thereof,

said robot comprising:

a. an open-bottomed frame having opposed side panels and a top panel interconnecting said side panels, said frame having a height and width such that it can be moved into said storage tank through said entryway in said tank,

b. a pair of endless hydraulically powered articulation treads, each tread comprising an articulation frame detachably mountable on one of the side panels of said frame, an idler spool rotatably mounted on said articulation frame adjacent one end thereof, a first hydraulic drive spool rotatably mounted on said articulation frame adjacent the other end thereof, and an endless tractor tread eliptically mounted on said idler spool and said drive spool, said articulation tread being dimensioned for movement into said storage tank through said entryway,

c. reverse action positive displacement water pump means mounted in said frame between said side panels, said positive displacement water pump means having a scoop-terminated bottom port for normally receiving fluids to be removed from said tank and an axial rear port for normally discharging fluids pumped by said positive displacement water pump means,

d. first reversible hydraulic pump motor means carried by said frame and operatively connected with said positive displacement water pump means for reversibly powering said positive displacement water pump means,

e. first hydraulic motor control means remotely, hydraulically operatively connected with said first hydraulic motor means for controlling the pumping action of said positive displacement water pump,

f. filter means covering the mouth of said scoop for excluding unwanted solids,

g. nozzled, articulatable water-jetting means dimensioned for movement into said storage tank through said entryway comprising;

g-1. a water-jet frame supportable on said top panel of said frame,

g-2. a water pipe mounted vertically in said water-jet frame,

g-3. a top half of a mating joint mounted on the bottom of said water pipe,

g-4. a first horizontally rotatable elbow joint rotatably mounted on the top of said water pipe,

g-5. a second vertically rotatable elbow joint rotatably mounted on the free end of said first elbow joint,

g-6. a discharge conduit mounted on the free end of said second elbow joint,

g-7. a nozzle mounted on the free end of said discharge conduit,

g-8. first elbow joint hydraulic motor means carried by said water jet frame and operatively connected with said first rotatable elbow joint for rotating the same about its horizontal azxis, and

g-9. second elbow joint hydraulic motor means carried by said water jet frame and operatively connected with said second rotatable elbow joint for rotataing the same about its vertical axis,

h. tubular water supply means comprising an elongate water supply tube laterally mounted on a side panel of said frame above the robot articulation tread mounted thereon, a bottom half of a mating joint mounted on the top panel of said frame and fluidly interconnected with said water supply tube and said top half of said mating joint,

i. second hydraulic motor means carried by said frame and operatively connected with said articulation means for the articulation thereof,

j. second hydraulic motor control means remotely, hydraulically, operatively connected with said second hydraulic motor means for regulating movement of said robot articulation means,

k. third hydraulic motor control means remotely, hydraulically, operatively connected with said first and second elbow joint hydraulic motor means for regulating the movement thereof,

said power supply trailer comprising;

aa. a wheel mounted frame,

bb. an internal combustion engine having a drive shaft mounted on said frame,

cc. a water pump mounted on said frame, said water pump having an inlet port connectable with an external water supply source and an outlet port and said tubular water supply means and being operatively connected to the drive shaft of said internal combustion engine,

dd. a hydraulic fluid pump mounted on said frame,

ee. a hydraulic fluid reservoir mounted on said frame and fluidly interconnected with said hydraulic fluid pump,

ff. first, second and third reels mounted on said frame,

gg. a water hose insertable through said entryway into said tank carried by said first reel and interconnectable with said axial port of said positive displacement water pump, and

hh. a first cable comprising hydraulic fluid supply lines insertable through said entryway into said tank, carried by said second reel and interconnectable between said hydraulic fluid reservoir and said first, second, and third, hydraulic motor means for independently driving the same, and

ii. water discharge means operatively connected through said entryway with said axial port of said positive displacement water pump means said hydraulic control means comprising;

aaa. first, second, third, fourth and fifth three-way toggle switches, and

bbb. a second cable insertable through said entryway into said tank, carried by said third reel and comprising sheathed first, second, third, fourth and fifth hydraulic control lines interconnectable with, respectively, said first, second, third fourth and fifth hydraulic control means and said first, second, third, fourth and fifth toggle switches of said hydraulic control means for controlling their hydraulic action.