Robotic tank cleaning system and method
DCFirst Claim
1. A robotic cleaning system for hydrocarbon storage tanks, comprising:
- (a) a light-weight, collapsible frame having robot articulation means mounted thereon for moving said frame within said tank, said tank having a floor;
(b) nozzled articulatable washing means mounted on said frame for spraying a petroleum-based solvent on a surface to be cleaned;
(c) waste removal means removably connectable to said frame for removing waste material comprising hydrocarbon sludge and expended solvent from said tank and transferring said waste material to waste fractioning means;
(d) hoisting means operatively mounted on said frame for picking up, transporting and dropping off said waste removal means within said tank;
(e) hydraulic power means operatively connected with said robot articulation means, said waste removal means, and said articulatable washing means for articulating said frame and said washing means and for powering said waste removal means;
(f) hydraulic control means operatively connected with said hydraulic power means for regulating the operation of said robot articulation means and said articulatable washing means;
(g) solvent supply means operatively connected with said washing means for delivering said solvent to said washing means;
(h) waste fractioning means operatively connected to said waste removal means and said solvent supply means for receiving said waste material from said waste removal means, allowing said hydrocarbon sludge to settle below said expended solvent, and delivering said expended solvent back to said solvent supply means; and
(i) sludge return means operatively connected between said waste fractioning means and a refinery pipeline for returning said hydrocarbon sludge to said refinery for further refinement.
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Accused Products
Abstract
A robotic tank cleaning system is provided, comprising a light-weight, collapsible, and robotically controllable frame having an articulatable washing nozzle for spraying a petroleum-based solvent on a surface to be cleaned. Hydraulic power and control units are also provided which allow an operator to control the motion of the frame and washing nozzle from outside the tank, as well as a solvent supply system for delivering solvent to the washing nozzle. A hoisting mechanism is included to allow placement and retrieval of a waste removal pump, and a clearing blade is attached to the frame to assist movement of waste material to the waste removal pump. Waste material comprising dislodged oil sludge and expended solvent is collected in waste fractioning tanks where the collected oil sludge is allowed to settle below the expended solvent. The separated solvent in the waste fractioning tanks is redirected through the solvent supply system and is reused for further spraying of the tank interior. A sludge return pipeline delivers settled oil sludge from the waste fractioning tanks back to the refinery for further processing. A method of cleaning hydrocarbon storage tanks is also provided using the robotically controlled frame in conjunction with the waste removal, waste fractioning, and sludge return components.
37 Citations
27 Claims
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1. A robotic cleaning system for hydrocarbon storage tanks, comprising:
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(a) a light-weight, collapsible frame having robot articulation means mounted thereon for moving said frame within said tank, said tank having a floor; (b) nozzled articulatable washing means mounted on said frame for spraying a petroleum-based solvent on a surface to be cleaned; (c) waste removal means removably connectable to said frame for removing waste material comprising hydrocarbon sludge and expended solvent from said tank and transferring said waste material to waste fractioning means; (d) hoisting means operatively mounted on said frame for picking up, transporting and dropping off said waste removal means within said tank; (e) hydraulic power means operatively connected with said robot articulation means, said waste removal means, and said articulatable washing means for articulating said frame and said washing means and for powering said waste removal means; (f) hydraulic control means operatively connected with said hydraulic power means for regulating the operation of said robot articulation means and said articulatable washing means; (g) solvent supply means operatively connected with said washing means for delivering said solvent to said washing means; (h) waste fractioning means operatively connected to said waste removal means and said solvent supply means for receiving said waste material from said waste removal means, allowing said hydrocarbon sludge to settle below said expended solvent, and delivering said expended solvent back to said solvent supply means; and (i) sludge return means operatively connected between said waste fractioning means and a refinery pipeline for returning said hydrocarbon sludge to said refinery for further refinement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. In a robotic cleaning system for hydrocarbon storage tanks, comprising:
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(i) a light-weight, collapsible frame having robot articulation means mounted thereon for moving said frame within said tank, said tank having a floor; (ii) nozzled articulatable washing means mounted on said frame for spraying a petroleum-based solvent on a surface to be cleaned; (iii) waste removal means removably connectable to said frame for removing waste material comprising hydrocarbon sludge and expended solvent from said tank and transferring said waste material to waste fractioning means; (iv) hoisting means operatively mounted on said frame for picking up, transporting and dropping off said waste removal means within said tank; (v) hydraulic power means operatively connected with said robot articulation means, said waste removal means, and said articulatable washing means for articulating said frame and said washing means and for powering said waste removal means; (vi) hydraulic control means operatively connected with said hydraulic power means for regulating the operation of said robot articulation means and said articulatable washing means; (vii) solvent supply means operatively connected with said washing means for delivering said solvent to said washing means; (viii) waste fractioning means operatively connected to said waste removal means and said solvent supply means for receiving said waste material from said waste removal means, allowing said hydrocarbon sludge to settle below said expended solvent, and delivering said expended solvent back to said solvent supply means; and (ix) sludge return means operatively connected between said waste fractioning means and a refinery pipeline for returning said hydrocarbon sludge to said refinery for further refinement; a method of cleaning said hydrocarbon storage tanks, comprising the steps of; (a) placing said robotically controlled frame inside said tank; (b) supplying hydraulic power from said hydraulic power means to said robot articulation means and said washing means and supplying said solvent from said solvent supply means to said washing means; (c) spraying said surfaces with said washing means using said solvent to dislodge said sludge from said tank; (d) controlling said robot articulation means and said washing means outside said tank with said hydraulic control means until said sludge is satisfactorily dislodged; (e) removing waste material comprising said sludge and said solvent sprayed from said washing means for said tank using said waste removal means; (f) transferring said waste material to said waste fractioning means to allow said sludge to settle below said solvent; (g) delivering said solvent in said waste fractioning means back to said solvent supply means for further spraying by said washing means; and (h) delivering settled sludge in said waste fractioning means to a refinery for further refinement. - View Dependent Claims (19, 20)
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21. A robot for cleaning hydrocarbon storage tanks, comprising:
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(a) a light-weight, collapsible frame having robot articulation means mounted thereon for moving said frame within said hydrocarbon storage tank, such that when said frame is in a collapsed position, said robot is of sufficient size to fit through a manhole entrance to said hydrocarbon storage tank; (b) nozzled articulatable washing means mounted on said frame for spraying a petroleum-based solvent on a surface to be cleaned; (c) hydraulic power means operatively connected with said robot articulation means and said articulatable washing means for articulating said frame and said washing means; (d) hydraulic control means operatively connected with said hydraulic power means for regulating the operation of said robot articulation means and said articulatable washing means; and (e) solvent supply means operatively connected with said washing means for delivering said solvent to said washing means; (f) wherein said frame comprises a cross support member having a midpoint, and a rigid and hollow solvent supply tube having an front end and a rear end, said front end being pivotally attached to said midpoint of said cross support member and having an opening for allowing fluid communication between said solvent supply tube and said washing means, and said rear end having an opening to accept a solvent supply hose and also having a pivotable trailing wheel; and (g) wherein said robot articulation means comprises; (i) a first vertical plate attached to one end of said cross support member, and a second vertical plate attached to the opposite end of said cross support member, each said plate having a portion extending downward from said cross support member. (ii) first and second hydraulic motors operatively attached to said downwardly extending portion of said first and second plates, respectively; and (iii) first and second wheels operatively attached to said first and second hydraulic motors, respectively. - View Dependent Claims (22, 23)
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24. A robot for clearing hydrocarbon storage tanks, comprising:
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(a) a light-weight, collapsible frame having robot articulation means mounted thereon for moving said frame within said hydrocarbon storage tank, such that when said frame is in a collapsed position, said robot is of sufficient size to fit through a manhole entrance to said hydrocarbon storage tank; (b) nozzled articulatable washing means mounted on said frame for spraying a petroleum-based solvent on a surface to be cleaned; (c) hydraulic power means operatively connected with said robot articulation means and said articulatable washing means for articulating said frame and said washing means; (d) hydraulic control means operatively connected with said hydraulic power means for regulating the operation of said robot articulation means and said articulatable washing means; and (e) solvent supply means operatively connected with said washing means for delivering said solvent to said washing means; (f) wherein said nozzled articulatable washing means comprises; (i) a 2-degree of freedom tubing system operatively connected to said solvent supply means and terminating in a nozzle; (ii) horizontal control means operatively attached to said tubing system for causing said tubing system to spray said solvent in a horizontal arc; and (iii) vertical control means operatively attached to said tubing system for causing said tubing system to spray said solvent in a vertical arc. - View Dependent Claims (25, 26, 27)
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Specification