Proceedings of 12th IEEE International

International Conference
on 
on CYBER
CYBER Technology
Technology in in Automation,
Automation, Control,
Control, and
and Intelligent
Intelligent Systems
Systems 
July
July 27
27 -- 31,2022
31, 2022,, Changbai
Changbai Mountain,
Mountain, China
China
2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) | 978-1-6654-7267-8/22/$31.00 ©2022 IEEE | DOI: 10.1109/CYBER55403.2022.9907466

Mechanical Design of a Crawler Hydraulic Sludge Cleaning Robot

0HFKDQLFDO'HVLJQRID&UDZOHU+\GUDXOLF6OXGJH&OHDQLQJ5RERW
Zhilin Yang, Haitao Fang, Yongqiang Wang, Wei Feng, and Kai He* 
=KLOLQ<DQJ+DLWDR)DQJ<RQJTLDQJ:DQJ:HL)HQJDQG.DL+H

Abstract - At present, most

$EVWUDFW²$WSUHVHQW PRVW of the cleaning of oil
RIWKHFOHDQLQJRI storage
RLOVWRUDJH
tanks is in the manual cleaning stage. On the one hand, manual
WDQNVLVLQWKHPDQXDOFOHDQLQJVWDJH2QWKHRQHKDQGPDQXDO Helium generator::;~I~~~~-*~~~~
ooster ptunp

cleaning has high labor intensity and high-risk factor, on the

FOHDQLQJKDVKLJKODERULQWHQVLW\DQGKLJKULVNIDFWRURQWKH
other hand, low cleaning efficiency leads to high cleaning costs.
RWKHUKDQGORZFOHDQLQJHIILFLHQF\OHDGVWRKLJKFOHDQLQJFRVWV
sludge Cleaned oil tank
In
,Q response
UHVSRQVH to WR the
WKH urgent
XUJHQW needs and DFWXDO
QHHGV DQG actual operating
RSHUDWLQJ Cleaning oil
Clean water
conditions
FRQGLWLRQV of RI the
WKH oil
RLO tank
WDQN cleaning
FOHDQLQJ industry,
LQGXVWU\ the
WKH crawler
FUDZOHU
hydraulic
K\GUDXOLF sludge
VOXGJH cleaning
FOHDQLQJ robot
URERW is
LV developed
GHYHORSHG in
LQ this
WKLV paper
SDSHU
which can replace the manual cleaning of oil tanks to a certain
ZKLFKFDQUHSODFHWKHPDQXDOFOHDQLQJRIRLOWDQNVWRDFHUWDLQ
extent.
H[WHQW This article mainly
7KLV DUWLFOH PDLQO\ introduces
LQWURGXFHV theWKH structure
VWUXFWXUH and
DQG
working process of the robot as well as the strength check of
ZRUNLQJSURFHVVRIWKHURERWDVZHOODVWKHVWUHQJWKFKHFNRI
the
WKH key
NH\ components..
FRPSRQHQWV Afterwards,
$IWHUZDUGV the
WKH kinematics analysis of
NLQHPDWLFV DQDO\VLV RI Gas storage tank

the robot in the working state is carried out.

WKHURERWLQWKHZRUNLQJVWDWHLVFDUULHGRXW

1.
, INTRODUCTION
,1752'8&7,21

Oil storage tanks
2LO VWRUDJH WDQNV are
DUH large
ODUJH containers
FRQWDLQHUV responsible
UHVSRQVLEOH for
IRU
Figure 1. COWS
)LJXUH system cleaning process
&2:6V\VWHPFOHDQLQJSURFHVV
storing crude oil, aerospace fuel or other refined oil products.
VWRULQJFUXGHRLODHURVSDFHIXHORURWKHUUHILQHGRLOSURGXFWV
Most
0RVW ofRI them
WKHP are
DUH cylindrical and DUH
F\OLQGULFDO DQG are very
YHU\ common
FRPPRQ inLQ oil
RLO The
7KH BLAB
%/$%2 a tank
WDQN cleaning
FOHDQLQJ system
V\VWHP is LV modular
PRGXODU and
DQG
refineries and oil fields. During the use of oil tanks, due to
UHILQHULHVDQGRLOILHOGV'XULQJWKHXVHRIRLOWDQNVGXHWR includes
LQFOXGHV equipments
HTXLSPHQWV for sludge removal
IRU VOXGJH UHPRYDO, media
PHGLD recycling
UHF\FOLQJ
gravity , the heavy components in crude oil or refined oil will
JUDYLW\WKHKHDY\FRPSRQHQWVLQFUXGHRLORUUHILQHGRLOZLOO and
DQG sludge separation. The
VOXGJH VHSDUDWLRQ 7KH principle
SULQFLSOH is
LV similar
VLPLODU to
WR COW
&2:
gradually sink to form a semi-t1uid deposit. Among them are
JUDGXDOO\VLQNWRIRUPDVHPLIOXLGGHSRVLW$PRQJWKHPDUH system.
V\VWHP
mainly hydrocarbons, heavy metals , waxes , etc. Over time,
PDLQO\K\GURFDUERQVKHDY\PHWDOVZD[HVHWF2YHUWLPH
it will cause problems such as reduction of tank volume , tank
LWZLOOFDXVHSUREOHPVVXFKDVUHGXFWLRQRIWDQNYROXPHWDQN Since foreign oil tank mechanical cleaning has long been
6LQFHIRUHLJQRLOWDQNPHFKDQLFDOFOHDQLQJKDVORQJEHHQ
wall
ZDOO corrosion,
FRUURVLRQ and tank body deformation. Therefore , the
DQGWDQNERG\GHIRUPDWLRQ7KHUHIRUHWKH in a monopoly position and the cleaning price is relatively
LQDPRQRSRO\SRVLWLRQDQGWKHFOHDQLQJSULFHLVUHODWLYHO\
tank
WDQN needs
QHHGV toWR be
EH cleaned
FOHDQHG regularly. The petrochemical
UHJXODUO\ 7KH SHWURFKHPLFDO high , the main cleaning method in China is manual cleaning.
KLJKWKHPDLQFOHDQLQJPHWKRGLQ&KLQDLVPDQXDOFOHDQLQJ
industry stipulates that the cleaning and maintenance cycle
LQGXVWU\VWLSXODWHVWKDWWKHFOHDQLQJDQGPDLQWHQDQFHF\FOH However,
+RZHYHU dueGXH to
WR the
WKH high
KLJK labor
ODERU intensity and high
LQWHQVLW\ DQG KLJK risk
ULVN of
RI
of newly -built oil tanks should not exceed lO years , and the
RIQHZO\EXLOWRLOWDQNVVKRXOGQRWH[FHHG\HDUVDQGWKH manual cleaning, robots instead of manual handling of dirt
PDQXDOFOHDQLQJURERWVLQVWHDGRIPDQXDOKDQGOLQJRIGLUW
cleaning and maintenance
FOHDQLQJ DQG PDLQWHQDQFH cycle
F\FOH of
RI oil
RLO tanks
WDQNV in
LQ use
XVH is
LV suction equipment and cleaning equipment, which not only
VXFWLRQHTXLSPHQWDQGFOHDQLQJHTXLSPHQWZKLFKQRWRQO\
generally 5 to 7 yearsl'!
JHQHUDOO\WR\HDUV >@
 reduces
UHGXFHV the
WKH labor
ODERU intensity
LQWHQVLW\ of
RI workers,
ZRUNHUV but
EXW also
DOVR reduces
UHGXFHV
cleaning costs. Hydro-vac company developed a hydraulic
FOHDQLQJFRVWV+\GURYDFFRPSDQ\GHYHORSHGDK\GUDXOLF
Nowadays,
1RZDGD\V the
WKH more
PRUH commonly
FRPPRQO\ used
XVHG methods
PHWKRGV for
IRU oil
RLO bulldozer
EXOOGR]HU oilRLO tank
WDQN operation
RSHUDWLRQ machine''" The British
PDFKLQH>@ 7KH %ULWLVK
tank cleaning are manual cleaning and mechanical cleaning.
WDQNFOHDQLQJDUHPDQXDOFOHDQLQJDQGPHFKDQLFDOFOHDQLQJ company NESL has launched several robots
FRPSDQ\ 1(6/ KDV ODXQFKHG VHYHUDO URERWV for
IRU cleaning
FOHDQLQJ
Manual cleaning is the earliest method used in the industry.
0DQXDOFOHDQLQJLVWKHHDUOLHVWPHWKRGXVHGLQWKHLQGXVWU\ inside and outside
LQVLGH DQG RXWVLGH storage
VWRUDJH tanks[5]
WDQNV>@ Deng Sanpeng team
'HQJ 6DQSHQJ WHDP
,W does
It GRHV not
QRW require
UHTXLUH the
WKH development
GHYHORSPHQW ofRI professional
SURIHVVLRQDO designed a cleaning robot for crude oil storage tanks'>@
GHVLJQHGDFOHDQLQJURERWIRUFUXGHRLOVWRUDJHWDQNV ''!
equipment. Only high pressure water gun, explosion-proof
HTXLSPHQW2QO\KLJKSUHVVXUHZDWHUJXQH[SORVLRQSURRI
shovel
VKRYHO and
DQG other
RWKHU common
FRPPRQ equipment
HTXLSPHQW in
LQ the
WKH market
PDUNHW are
DUH In
,Q this
WKLV paper
SDSHU we
ZH propose
SURSRVH aD new
QHZ design
GHVLJQ ofRI crawler
FUDZOHU
required, and professional operators are trained to complete
UHTXLUHGDQGSURIHVVLRQDORSHUDWRUVDUHWUDLQHGWRFRPSOHWH hydraulic sludge cleaning robot with tank bottom t1ushing,
K\GUDXOLFVOXGJHFOHDQLQJURERWZLWKWDQNERWWRPIOXVKLQJ
the operation. Personnel enter the inside of the oil tank from
WKHRSHUDWLRQ3HUVRQQHOHQWHUWKHLQVLGHRIWKHRLOWDQNIURP climbing and obstacle crossing. And compared with other oil
FOLPELQJDQGREVWDFOHFURVVLQJ$QGFRPSDUHGZLWKRWKHURLO
the manhole of the oil tank, and clean the oil sludge by using
WKHPDQKROHRIWKHRLOWDQNDQGFOHDQWKHRLOVOXGJHE\XVLQJ tank
WDQN cleaning
FOHDQLQJ robots
URERWV, it
LW has
KDV the
WKH characteristics
FKDUDFWHULVWLFV of
RI sludge
VOXGJH
aD vacuum
YDFXXP pump
SXPS or
RU manpower'-" There are
PDQSRZHU>@7KHUH DUH two
WZR cleaning
FOHDQLQJ recovery and larger load capacity.
UHFRYHU\DQGODUJHUORDGFDSDFLW\
systems commonly used in mechanical cleaning, one is the
V\VWHPVFRPPRQO\XVHGLQPHFKDQLFDOFOHDQLQJRQHLVWKH
II.
,, 6
STRUCTURE AND WORKING PRINCIPLE OF CRAWLER
758&785($1':25.,1*35,1&,3/(2)&5$:/(5
COWS tank cleaning system, and the other is the BLAB a
&2:6WDQNFOHDQLQJV\VWHPDQGWKHRWKHULVWKH%/$%2
HYDRAULIC SLUDGE CLEANING ROBOT 
+<'5$8/,&6/8'*(&/($1,1*52%27
tank cleaning system.
WDQNFOHDQLQJV\VWHP
The COWS system
7KH &2:6 V\VWHP is
LV mainly
PDLQO\ composed
FRPSRVHG of RI aD recovery
UHFRYHU\ A.
$ Overall structure of crawler hydraulic sludge cleaning
2YHUDOOVWUXFWXUHRIFUDZOHUK\GUDXOLFVOXGJHFOHDQLQJ
system
V\VWHP, aD cleaning system, D
FOHDQLQJ V\VWHP a cleaning
FOHDQLQJ machine,
PDFKLQH D a gas
JDV robot
URERW
composition system and
FRPSRVLWLRQ V\VWHP DQG aD nitrogen
QLWURJHQ supply
VXSSO\ system.
V\VWHP First ,
)LUVW The structure
7KH VWUXFWXUH of
RI the
WKH crawler
FUDZOHU hydraulic sludge cleaning
K\GUDXOLF VOXGJH FOHDQLQJ
suck
VXFN the
WKH oil
RLO with
ZLWK good
JRRG t1uidity, then use
IOXLGLW\ WKHQ XVH the same oil
WKH VDPH and
RLO DQG robot is shown in Figure 2 and Figure 3. The robot is mainly
URERWLVVKRZQLQ)LJXUHDQG)LJXUH7KHURERWLVPDLQO\
warm water to clean the remaining dirt, and finally conduct
ZDUPZDWHUWRFOHDQWKHUHPDLQLQJGLUWDQGILQDOO\FRQGXFW composed
FRPSRVHG of RI left
OHIW and
DQG right
ULJKW walking
ZDONLQJ mechanisms,
PHFKDQLVPV
ventilation cleaning and waste recycling''"
YHQWLODWLRQFOHDQLQJDQGZDVWHUHF\FOLQJ >@
 intermediate executive agency, and front and rear cameras.
LQWHUPHGLDWHH[HFXWLYHDJHQF\DQGIURQWDQGUHDUFDPHUDV


Zhilin Yang , Haitao Fang and Wei Feng are with Shenzhen Institnte of
=KLOLQ<DQJ+DLWDR)DQJDQG:HL)HQJDUHZLWK6KHQ]KHQ,QVWLWXWHRI *Contacting
&RQWDFWLQJ Author:
$XWKRU Kai
.DL He
+H is
LV with Shenzhen Institute
ZLWK6KHQ]KHQ ,QVWLWXWH of
RI Advanced
$GYDQFHG
Advanced Technology, Chinese Academy of Sciences, Shenzhen 51800 ,
$GYDQFHG7HFKQRORJ\&KLQHVH$FDGHP\RI6FLHQFHV6KHQ]KHQ Technology,
7HFKQRORJ\ Chinese
&KLQHVH Academy
$FDGHP\ of RI Sciences, Shenzhen 
6FLHQFHV 6KHQ]KHQ 51800 , China.
&KLQD
China.
&KLQD (phone: +86-150 13869572; e-mail: kai.he@siat.ac.cn)
SKRQHHPDLONDLKH#VLDWDFFQ
Yongqiang
<RQJTLDQJ Wang
:DQJ was
ZDV with
ZLWK China
&KLQD Merchants
0HUFKDQWV Heavy
+HDY\ Industry
,QGXVWU\ 
(Jiangsu)CO.,LTD, Nantong 226000, China.
-LDQJVX&2/7'1DQWRQJ&KLQD

978-1-6654-7267-8/22/$31.00
978-1-6654-7267-8/22/$31.00 ©2022 IEEE
IEEE 1247
1247
Authorized licensed use limited to: Gebze Technical University. Downloaded on May 31,2023 at 19:42:19 UTC from IEEE Xplore. Restrictions apply.
 

During operation, the robot climbs on the oil tank manhole

'XULQJRSHUDWLRQWKHURERWFOLPEVRQWKHRLOWDQNPDQKROH recovered WKURXJK
UHFRYHUHG through WKH
the VOXGJHVXFWLRQSLSH
sludge suction pipe DQG
and VXSSOLHG
supplied WR
to
guide ODGGHU
JXLGH ladder DQG
and HQWHUV
enters WKH
the RLO
oil WDQN
tank WKURXJK
through WKH
the PP
600mm the professional department to process the sludge.
WKHSURIHVVLRQDOGHSDUWPHQWWRSURFHVVWKHVOXGJH
diameter oil tank manhole. Since the workplace is inside the
GLDPHWHURLOWDQNPDQKROH6LQFHWKHZRUNSODFHLVLQVLGHWKH
oil WDQN
RLO tank, LW
it LV
is D
a IODPPDEOH
t1ammable DQG
and H[SORVLYH
explosive SODFH
place. 7KH
The URERW
robot
needs to adopt explosion-proof design. Therefore, the robot
QHHGVWRDGRSWH[SORVLRQSURRIGHVLJQ7KHUHIRUHWKHURERW I Center conso l e I
uses K\GUDXOLF
XVHV hydraulic GULYH
drive DQG
and XVHV
uses UXEEHU
rubber FUDZOHUV
crawlers. 7KH
The URERW
robot
material uses stainless steel. The beryllium bronze sleeves
PDWHULDOXVHVVWDLQOHVVVWHHO7KHEHU\OOLXPEURQ]HVOHHYHV
tank from rubbing , as well as the friction between metal and
WDQNIURPUXEELQJDVZHOODVWKHIULFWLRQEHWZHHQPHWDODQG
metal to generate static electricity. And sparks, causing an
PHWDOWRJHQHUDWHVWDWLFHOHFWULFLW\$QGVSDUNVFDXVLQJDQ Hydrauli c power
accident. 7KH
DFFLGHQW The OLIWLQJ
lifting K\GUDXOLF
hydraulic F\OLQGHU
cylinder LV
is UHVSRQVLEOH
responsible IRU
for s tation
lifting the lifting plate when the robot enters and exits the
OLIWLQJWKHOLIWLQJSODWHZKHQWKHURERWHQWHUVDQGH[LWVWKH
manhole RI
PDQKROH of WKH
the RLO
oil WDQN
tank WR
to SUHYHQW
prevent IULFWLRQ
friction EHWZHHQ
between WKH
the 
sludge suction pipe and the dirt pushing plate and the guide
VOXGJHVXFWLRQSLSHDQGWKHGLUWSXVKLQJSODWHDQGWKHJXLGH Figure 4. 6FKHPDWLFGLDJUDPRIFUDZOHUK\GUDXOLFVOXGJHFOHDQLQJURERW
)LJXUH Schematic diagram of crawler hydraulic sludge cleaning robot
ladder. 7KH
ODGGHU The VOXGJH
sludge SXVKLQJ
pushing ERDUG
board LV
is GULYHQ
driven E\by WKH
the VOXGJH
sludge system
V\VWHP
pushing K\GUDXOLFF\OLQGHU
SXVKLQJ hydraulic cylinder , ZKLFK
which FDQUHDOL]HWKHRSHQLQJ
can realize the opening
and closing movement, so that the sludge gathers under the
DQGFORVLQJPRYHPHQWVRWKDWWKHVOXGJHJDWKHUVXQGHUWKH & Robot walking mechanism
C. 5RERWZDONLQJPHFKDQLVP
suction port.
VXFWLRQSRUW The ZDONLQJ
7KH walking PHFKDQLVP
mechanism LVis PDLQO\
mainly PDGH
made RI
of VWDLQOHVV
stainless
2 steel, which has high strength and good corrosion resistance ,
VWHHOZKLFKKDVKLJKVWUHQJWKDQGJRRGFRUURVLRQUHVLVWDQFH
and LV
DQG is DOVR
also RQH
one RI
of WKH
the H[SORVLRQSURRI
explosion-proof PDWHULDOV
materials. 7KH
The
walking mechanism is mainly composed of hydraulic motor,
ZDONLQJPHFKDQLVPLVPDLQO\FRPSRVHGRIK\GUDXOLFPRWRU
crawler IUDPH
FUDZOHU frame , UXEEHU
rubber FUDZOHUGULYH
crawler, drive ZKHHO
wheel, WHQVLRQ
tension ZKHHO
wheel
and burden wheel.
DQGEXUGHQZKHHO
The WUDYHOLQJ
7KH traveling PHFKDQLVP
mechanism LV is SRZHUHG
powered E\by WKH
the K\GUDXOLF
hydraulic
motor , and the driving gear teeth mesh with the rubber track
PRWRUDQGWKHGULYLQJJHDUWHHWKPHVKZLWKWKHUXEEHUWUDFN
to drive the track to rotate. Tighten the tension screw to push
WRGULYHWKHWUDFNWRURWDWH7LJKWHQWKHWHQVLRQVFUHZWRSXVK
the track guide wheel frame to move forward in the chute on
WKHWUDFNJXLGHZKHHOIUDPHWRPRYHIRUZDUGLQWKHFKXWHRQ
the WUDFN
WKH track SODWH
plate, DQG
and GULYH
drive WKH
the WUDFN
track JXLGH
guide ZKHHO
wheel WRto PRYH
move
forward to tighten the rubber track. After the tension screw
IRUZDUGWRWLJKWHQWKHUXEEHUWUDFN$IWHUWKHWHQVLRQVFUHZ
reaches the appropriate position , tighten the tension nut to
UHDFKHVWKHDSSURSULDWHSRVLWLRQWLJKWHQWKHWHQVLRQQXWWR
fix LW
IL[ it. 7KH
The SRVLWLRQ
position RI
of WKH
the WHQVLRQ
tension VFUHZ
screw SUHYHQWV
prevents LWit IURP
from
loosening, DQG
ORRVHQLQJ and WKH
the IULFWLRQ
friction EHWZHHQ
between WKH
the WUDFN
track JXLGH
guide ZKHHO
wheel

and the crawler belt rotates with the crawler belt. The weight
DQGWKHFUDZOHUEHOWURWDWHVZLWKWKHFUDZOHUEHOW7KHZHLJKW
1- Right crawler running gear 2- Rear camera 3- Left crawler running gear
5LJKWFUDZOHUUXQQLQJJHDU5HDUFDPHUD/HIWFUDZOHUUXQQLQJJHDU of WKH
RI the URERW
robot LV
is PDLQO\
mainly ERUQH
borne E\
by WKH
the ORDGEHDULQJ
load-bearing ZKHHOV
wheels.
4- Intermediate executive agency 5-)URQWFDPHUD
,QWHUPHGLDWHH[HFXWLYHDJHQF\ Front camera
When the robot climbs up and down the guide ladder, the
:KHQWKHURERWFOLPEVXSDQGGRZQWKHJXLGHODGGHUWKH
Figure 2. &UDZOHUK\GUDXOLFVOXGJHFOHDQLQJURERW
)LJXUH Crawler hydraulic sludge cleaning robot
track guide wheels and drive wheels can also bear part of the
WUDFNJXLGHZKHHOVDQGGULYHZKHHOVFDQDOVREHDUSDUWRIWKH
robot's ZHLJKW
URERW
V weight. $IWHU
After WKH
the WUHDWHG
treated UXEEHU
rubber WUDFN
track IULFWLRQ
friction ZLWK
with
the bottom of the oil tank does not generate sparks and static
WKHERWWRPRIWKHRLOWDQNGRHVQRWJHQHUDWHVSDUNVDQGVWDWLF
electricity , and the rubber has good abrasion resistance and
HOHFWULFLW\DQGWKHUXEEHUKDVJRRGDEUDVLRQUHVLVWDQFHDQG
tensile strength, it will not wear the bottom of the oil tank,
WHQVLOHVWUHQJWKLWZLOOQRWZHDUWKHERWWRPRIWKHRLOWDQN
which is very suitable for harsh operating environments.
ZKLFKLVYHU\VXLWDEOHIRUKDUVKRSHUDWLQJHQYLURQPHQWV


Figure 3. 7RSYLHZRIFUDZOHUK\GUDXOLFVOXGJHFOHDQLQJURERW
)LJXUH Top view of crawler hydraulic sludge cleaning robot

B. :RUNLQJSULQFLSOHRIFUDZOHUK\GUDXOLFRLOVOXGJH
% Working principle ofcrawler hydraulic oil sludge
robot system
URERWV\VWHP
The PDLQ
7KH main FRPSRVLWLRQ
composition RIWKHFUDZOHU
of the crawler K\GUDXOLF
hydraulic VOXGJH
sludge
cleaning robot system is shown in Figure 4. It consists of a
FOHDQLQJURERWV\VWHPLVVKRZQLQ)LJXUH,WFRQVLVWVRID 
robot, D
URERW a FHQWHU
center FRQVROH
console , D
a ZLQFK
winch DQG
and Da K\GUDXOLF
hydraulic SXPS
pump
1- Hydraulic motor 2- Drive wheel 3- Rubber track
+\GUDXOLFPRWRU'ULYHZKHHO5XEEHUWUDFN
station, LQWHJUDWHG
VWDWLRQ integrated LQ
in D
a FRQWDLQHU
container DQG
and D
a YDFXXP
vacuum UHFRYHU\
recovery 4- Guide wheel 5- Side guide wheel 6- Tension screw
*XLGHZKHHO6LGHJXLGHZKHHO7HQVLRQVFUHZ
system. The robot climbs up the guide ladder and enters the
V\VWHP7KHURERWFOLPEVXSWKHJXLGHODGGHUDQGHQWHUVWKH 8- Load bearing wheel
/RDGEHDULQJZKHHO
oil tank, relying on the front and rear two explosion-proof
RLOWDQNUHO\LQJRQWKHIURQWDQGUHDUWZRH[SORVLRQSURRI Figure 5. )URQWYLHZRIZDONLQJPHFKDQLVP
)LJXUH Front view of walking mechanism
cameras with infrared night vision function to observe the
FDPHUDVZLWKLQIUDUHGQLJKWYLVLRQIXQFWLRQWRREVHUYHWKH
situation in the tank and determine the position of the robot.
VLWXDWLRQLQWKHWDQNDQGGHWHUPLQHWKHSRVLWLRQRIWKHURERW III. 5
,,, RUBBER TRACK SELECTION
8%%(575$&.6(/(&7,21
The movement of the robot is coordinated with the winch,
7KHPRYHPHQWRIWKHURERWLVFRRUGLQDWHGZLWKWKHZLQFK
In this design, the traveling mechanism needs to prevent
,QWKLVGHVLJQWKHWUDYHOLQJPHFKDQLVPQHHGVWRSUHYHQW
and the sludge is gathered at the sludge suction port by the
DQGWKHVOXGJHLVJDWKHUHGDWWKHVOXGJHVXFWLRQSRUWE\WKH
sparks DQG
VSDUNV and VWDWLF
static HOHFWULFLW\
electricity IURP
from EHLQJ
being JHQHUDWHG
generated GXULQJ
during
push VOXGJH
SXVK sludge ERDUG
board , DQG
and WKH
the YDFXXP
vacuum UHFRYHU\
recovery V\VWHP
system
walking , and prevent damage to the bottom surface of the oil
ZDONLQJDQGSUHYHQWGDPDJHWRWKHERWWRPVXUIDFHRIWKHRLO
provides QHJDWLYH
SURYLGHV negative SUHVVXUH
pressure VXFWLRQ
suction, VR
so WKDW
that WKH
the VOXGJH
sludge LV
is
tank, and the traction force should be large. The rubber track
WDQNDQGWKHWUDFWLRQIRUFHVKRXOGEHODUJH7KHUXEEHUWUDFN

1248
1248
Authorized licensed use limited to: Gebze Technical University. Downloaded on May 31,2023 at 19:42:19 UTC from IEEE Xplore. Restrictions apply.
 

is suitable for the complex working environment in the oil

LVVXLWDEOHIRUWKHFRPSOH[ZRUNLQJHQYLURQPHQWLQWKHRLO hr--Track inner tooth height.
K²²7UDFNLQQHUWRRWKKHLJKW
tank. The VWUXFWXUDOSDUDPHWHUVRIWKHUXEEHU
WDQN7KH structural parameters of the rubber track
WUDFN mainl y
PDLQO\
Number of teeth Z:
1XPEHURIWHHWK=
include: pitch, track width, track length, etc.
LQFOXGHSLWFKWUDFNZLGWKWUDFNOHQJWKHWF
Pitch: The pitch
3LWFK 7KH SLWFK of
RI the
WKH track
WUDFN is
LV usually
XVXDOO\ related
UHODWHG to
WR the
WKH 7rD
ʌ'
 =>
Z -≥ - P  (7)

weight
ZHLJKW ofRI the
WKH whole
ZKROH machine.
PDFKLQH Machines
0DFKLQHV with
ZLWK different
GLIIHUHQW 3
weights choose tracks with diflerent pitches. The track pitch
ZHLJKWVFKRRVHWUDFNVZLWKGLIIHUHQWSLWFKHV7KHWUDFNSLWFK
Gear tip diameter D aD
*HDUWLSGLDPHWHU' :
tois generally calculated according to the following formula:
WLVJHQHUDOO\FDOFXODWHGDFFRUGLQJWRWKHIROORZLQJIRUPXOD
§  ·
 to
W == (15 I 7.5)if;.
 ~a  
P (1)
  o,
'D == to(
W ¨ 0.54+ FRW 1~0)¸ 
 cot (8)

© = ¹
Track shoe width b:
7UDFNVKRHZLGWKE
Gear root circle diameter Dr:
*HDUURRWFLUFOHGLDPHWHU' I

  ~
bE == (0.9 l.l) x× 209
a  × P x× 
 x.\fm  −3
10-  (2)
  = 'aD -2h
'fI =D
D − Kz  (9)

The ground contact length LaRIWKHWUDFNDQGWKHJDXJH
7KHJURXQGFRQWDFWOHQJWK/ of the track and the gauge 9 DESIGN
V. '(6,*12) 386+,1*MECHANISM
OF PUSHING 0(&+$1,60
have the following formula relationship
%KDYHWKHIROORZLQJIRUPXODUHODWLRQVKLS
B
The
7KH dirt
GLUW pushing
SXVKLQJ mechanism (shown in
PHFKDQLVP VKRZQ LQ Figure  is
)LJXUH 6) LV
/ ij − I  composed of two stainless steel plates hinged, driven by a
FRPSRVHGRIWZRVWDLQOHVVVWHHOSODWHVKLQJHGGULYHQE\D
 ≤  (3)

% ȝ hydraulic cylinder, and the connecting rod is hinged to the
K\GUDXOLFF\OLQGHUDQGWKHFRQQHFWLQJURGLVKLQJHGWRWKH
hydraulic
K\GUDXOLF cylinder
F\OLQGHU earring,
HDUULQJ which
ZKLFK can
FDQ convert
FRQYHUW the
WKH linear
OLQHDU
Average ground pressure P:
$YHUDJHJURXQGSUHVVXUH3 motion
PRWLRQ ofRI the
WKH hydraulic
K\GUDXOLF cylinder
F\OLQGHU into
LQWR the
WKH opening
RSHQLQJ and
DQG
closing motion of the dirt pushing plate, so that the sludge in
FORVLQJPRWLRQRIWKHGLUWSXVKLQJSODWHVRWKDWWKHVOXGJHLQ
mg
PJ front of the suction pipe gathers.
IURQWRIWKHVXFWLRQSLSHJDWKHUV
 S =- 
p (4)

2bL
E/o Push the sludge board

1_
Track grounding length La:
7UDFNJURXQGLQJOHQJWK/
"I n'
PJ
= mg
 L/o    (5)
 IIydraulic cylinder V
2bp
ES
~\ ~
In the formula:
,QWKHIRUPXOD
x
m--robot weight;
P²²URERWZHLJKW
tp--traction adhesion coefficient;
ij²²WUDFWLRQDGKHVLRQFRHIILFLHQW
f--rolling resistance coefficient;
I²²UROOLQJUHVLVWDQFHFRHIILFLHQW
G'
fl--swing resistance coefficient.
ȝ²²VZLQJUHVLVWDQFHFRHIILFLHQW G" - - - - - -'

After calculation, the crawler specifications are shown in
$IWHUFDOFXODWLRQWKHFUDZOHUVSHFLILFDWLRQVDUHVKRZQLQ Figure 6. Schematic
)LJXUH diagram of the pushing mechanism
6FKHPDWLFGLDJUDPRIWKHSXVKLQJPHFKDQLVP
Table 1.
7DEOH,
A. Mechanism Motion Analysis
$0HFKDQLVP0RWLRQ$QDO\VLV
TABLE 1.
7$%/(, 75$&.
TR 63(&,),&$7,216
ACK SPE CIFICATIONS  As
$V can
FDQ be
EH seen
VHHQ from
IURP the
WKH figure,
ILJXUH the
WKH hydraulic
K\GUDXOLF cylinder
F\OLQGHU
Track
7UDFN Track shoe
7UDFNVKRH Track
7UDFN drives point C to reciprocate along the x-axis direction, and
GULYHVSRLQW&WRUHFLSURFDWHDORQJWKH[D[LVGLUHFWLRQDQG
Pitch (mm)
3LWFKPP point
SRLQW C
& and
DQG points
SRLQWV A
$ and
DQG B% are
DUH hinged
KLQJHG together
WRJHWKHU by
E\ the
WKH
lengthtmmi
OHQJWKPP width(mm)
ZLGWKPP thicknessimmi
WKLFNQHVVPP
1950
 65
 140
 25
 transmission rod. A and B are fixedly connected with the dirt
WUDQVPLVVLRQURG$DQG%DUHIL[HGO\FRQQHFWHGZLWKWKHGLUW
pushing plate, so the reciprocating motion of point C drives
SXVKLQJSODWHVRWKHUHFLSURFDWLQJPRWLRQRISRLQW&GULYHV
IV.
,9 DRIVE WHEEL DESIGN 
'5,9(:+((/'(6,*1 the two dirt pushing plates to open and close around the point
WKHWZRGLUWSXVKLQJSODWHVWRRSHQDQGFORVHDURXQGWKHSRLQW
o.
2
The driving wheel is the most important design part in
7KHGULYLQJZKHHOLVWKHPRVWLPSRUWDQWGHVLJQSDUWLQ
walking and is
ZDONLQJ DQG LV responsible
UHVSRQVLEOH for
IRU the
WKH power
SRZHU transmission
WUDQVPLVVLRQ 7r
ʌ 7r
ʌ
Restricted
5HVWULFWHG location:
ORFDWLRQ fJmax = 2" ' fJmin
ȕPD[ == = 3" . The
ȕPLQ == 7KH initial
LQLWLDO
function of the entire robot. It mainl y transmits the power
IXQFWLRQRIWKHHQWLUHURERW,WPDLQO\WUDQVPLWVWKHSRZHU  
provided
SURYLGHG by
E\ the
WKH hydraulic
K\GUDXOLF motor
PRWRU to
WR the
WKH crawler, and then
FUDZOHU DQG WKHQ ... 7rʌ
drives the action of the robot. Due to the consideration of the
GULYHVWKHDFWLRQRIWKHURERW'XHWRWKHFRQVLGHUDWLRQRIWKH position
SRVLWLRQLV ȕ == - 
IS j3 .
diameter of the driving wheel and the bending fatigue of the
GLDPHWHURIWKHGULYLQJZKHHODQGWKHEHQGLQJIDWLJXHRIWKH 2
track, the number of teeth of the driving wheel is generally
WUDFNWKHQXPEHURIWHHWKRIWKHGULYLQJZKHHOLVJHQHUDOO\ Take the point C at the initial position as the origin of the
7DNHWKHSRLQW&DWWKHLQLWLDOSRVLWLRQDVWKHRULJLQRIWKH
not less than 7 in the design.
QRWOHVVWKDQLQWKHGHVLJQ coordinates, and establish the coordinate system. According
FRRUGLQDWHVDQGHVWDEOLVKWKHFRRUGLQDWHV\VWHP$FFRUGLQJ
The mounting flange diameter of the hydraulic motor is
7KHPRXQWLQJIODQJHGLDPHWHURIWKHK\GUDXOLFPRWRULV to the geometric structure of the mechanism diagram, it can
WRWKHJHRPHWULFVWUXFWXUHRIWKHPHFKDQLVPGLDJUDPLWFDQ
175mm, So the sprocket pitch circle diameter D:
PP6RWKHVSURFNHWSLWFKFLUFOHGLDPHWHU' be
EH known
NQRZQ that
WKDW the
WKH moving
PRYLQJ distance
GLVWDQFH of
RI point C has
SRLQW & KDV the
WKH
following relationship:
IROORZLQJUHODWLRQVKLS
 ' ≥  + KK  (6)

 [& == LAC
Xc /$& -− L/AC
$& 2$ -− L
FRV aĮ + L/OA
cos FRVʌ − fJ)
2$ cos(7r-
/OA ȕ   (10)

In the formula:
,QWKHIRUPXOD
According to the induction formula, the above formula
$FFRUGLQJWRWKHLQGXFWLRQIRUPXODWKHDERYHIRUPXOD
h]--Track hole thickness;
K²²7UDFNKROHWKLFNQHVV can be simplified as:
FDQEHVLPSOLILHGDV

1249
1249
Authorized licensed use limited to: Gebze Technical University. Downloaded on May 31,2023 at 19:42:19 UTC from IEEE Xplore. Restrictions apply.
 

 Xc
[& = LAC
/$& + LOA
/2$ -− LAC FRV aĮ + LOA
/$& cos FRV fJȕ 
/2$ COS (11)
 oil tank when the dirt is pushed. The direction is vertical to
RLOWDQNZKHQWKHGLUWLVSXVKHG7KHGLUHFWLRQLVYHUWLFDOWR
the
WKH plate
SODWH surface
VXUIDFH distribution,
GLVWULEXWLRQ and
DQG the
WKH total size is
WRWDO VL]H LV q.
T The
7KH
In
,Q .'1AOC, it can be known from the law of sine:
Δ $2& LWFDQEHNQRZQIURPWKHODZRIVLQH components of the load force on the x-axis and y-axis are:
FRPSRQHQWVRIWKHORDGIRUFHRQWKH[D[LVDQG\D[LVDUH
 LOA VLQ ȕ = LAC
/2$ sinfJ /$& sina
VLQ Į  (12)
 ­ 2n
ʌ
+[ = qL
°F)HY T/D'( FRV − fJ)
E cos(3- ȕ
According to the trigonometric function theorem, it can
$FFRUGLQJWRWKHWULJRQRPHWULFIXQFWLRQWKHRUHPLWFDQ 
°
be simplified to:
EHVLPSOLILHGWR °F) =qL ʌ
 +\ T/DE
sine 2n - fJ)
'( VLQ 3 − ȕ   (18)

® Hy 
 FRV aĮ = ~l-
cos VLQ 2 fJȕ 
 − bį 2 sin (13)
 °
), [ = qL
°~x T/O2( VLQ fJȕ
E sin
°~y
In IRUPXOD bį = LOA
,Q formula /2$ / LAC
/$& , because RI (jį < 1 ,
EHFDXVH of ¯ ),\ = qL
T/O
2( FRV fJȕ
E cos

o
 < fJȕ <:::,≤ nʌ / 2 , VR VLQ fJȕ <:::,≤ 1 , ..!. bį 4 sin
so 0 < sin VLQ 4 fJȕ ""≈ 0 6R
So in
LQ the
WKH In the formula , F)HY
,QWKHIRUPXOD is the x-direction component of the
+[ LVWKH[GLUHFWLRQFRPSRQHQWRIWKH
4
 equivalent concentrated force of the load q on the plate DE;
HTXLYDOHQWFRQFHQWUDWHGIRUFHRIWKHORDGTRQWKHSODWH'(

root
URRW sign DGG ..!.bį4 sin'
VLJQ add VLQ  fJȕ GRHV
does not
QRW affect
DIIHFW the
WKH result
UHVXOW of
RI the
WKH F +\ is
)Hy LV the
WKH y-direction
\GLUHFWLRQ component
FRPSRQHQW ofRI the
WKH equivalent
HTXLYDOHQW
4

equation,: the above formula can be simplified to
HTXDWLRQWKHDERYHIRUPXODFDQEHVLPSOLILHGWR concentrated force of the load q on the plate DE, ~x
FRQFHQWUDWHGIRUFHRIWKHORDGTRQWKHSODWH'( ), [ is the
LVWKH
x-direction component of the equivalent concentrated force
[GLUHFWLRQFRPSRQHQWRIWKHHTXLYDOHQWFRQFHQWUDWHGIRUFH
1 , . , 1 , of
RI the
WKH load
ORDG qT on
RQ the
WKH plate
SODWH OE; ),\ is
2( ~y LV the
WKH y-direction
\GLUHFWLRQ
 cosa=l--b-sm-
FRV Į =  − į  VLQ  fJ=I--b-(l-cos2fJ)
ȕ =  − į   − FRV  ȕ   (14)

2 4
component of the equivalent concentrated force of the load
FRPSRQHQWRIWKHHTXLYDOHQWFRQFHQWUDWHGIRUFHRIWKHORDG
Combining
&RPELQLQJ Equation(ll)
(TXDWLRQ and
DQG Equation(14),
(TXDWLRQ the
WKH qTRQWKHSODWH2(
on the plate OE.
relational expression of the moving distance of point C can
UHODWLRQDOH[SUHVVLRQRIWKHPRYLQJGLVWDQFHRISRLQW&FDQ
Wherein point H and point I are the midpoints of plates
:KHUHLQSRLQW+DQGSRLQW,DUHWKHPLGSRLQWVRISODWHV
be obtained
EHREWDLQHG
DE and OE, respectively, and the distances from point Hand
'(DQG2(UHVSHFWLYHO\DQGWKHGLVWDQFHVIURPSRLQW+DQG
ª º point I to point 0:
SRLQW,WRSRLQW2
 Xc
[& = LO į  − FRV  ȕ  +  + FRV fJ)]
/2$A[«±b(I-COS2fJ)+(I+COS ȕ »  (15)

¬ ¼ ­  ʌ fJ
= 1 /D . 2n FRV fJȕ
The VWURNH of
7KH stroke RI the
WKH piston
SLVWRQ rod
URG of
RI the
WKH hydraulic
K\GUDXOLF cylinder,
F\OLQGHU °x[H+ =-L 2
E Slll(--
'( VLQ
3
− ȕ )+L
+ /OE cos
2(

that is, the displacement relationship at point C, is:

WKDWLVWKHGLVSODFHPHQWUHODWLRQVKLSDWSRLQW&LV °
 ʌ
°Y\ =-LD FRV 2n − fJȕ )+LO
= 1 / ECOS(-- . fJȕ
+ /2(ESlll
VLQ
 /& = [&  ȕPLQ  − [&  ȕPD[   
(16) ° H+ 2 '( 3
 ®  (19)

°XI 1

ʌ ʌ [, = - L/O E cos
FRV fJ
ȕ
Substitute fJȕPD[ = !!..., fJȕPLQ. =!!...
6XEVWLWXWH = 3 into Equation
LQWR(TXDWLRQ ° 2
2(
m ax 2 nun
 °  . fJȕ
°Y\I, = -1 L/OE Slll
2( VLQ
1 1 ¯ 2
 L/& == (---b)L
 − į  /2$ 
2 8 OA (17)

C
 The moment of load force to point 0 is
7KHPRPHQWRIORDGIRUFHWRSRLQW2LV
% Institutional
B. Force Analysis
,QVWLWXWLRQDO)RUFH$QDO\VLV  M 2T = F
0Oq +[ \+ + F)HyX
)H,YH + +F
+\ [H ,[ \, + ~yXI
)lxYI ),\ [,  
(20)
Due
'XH to
WR the
WKH symmetrical
V\PPHWULFDO design
GHVLJQ of
RI the
WKH two sides of
WZR VLGHV RI the
WKH
fouling
IRXOLQJ plate,
SODWH the
WKH stress
VWUHVV is
LV also
DOVR distributed
GLVWULEXWHG symmetrically.
V\PPHWULFDOO\ Substituting Equations (18) and (19) into Equation (20),
6XEVWLWXWLQJ(TXDWLRQVDQGLQWR(TXDWLRQ
Now take one side of the push plate to analyze the force of
1RZWDNHRQHVLGHRIWKHSXVKSODWHWRDQDO\]HWKHIRUFHRI we get:
ZHJHW
the
WKH hydraulic
K\GUDXOLF cylinder.
F\OLQGHU The
7KH schematic
VFKHPDWLF diagram
GLDJUDP of
RI the
WKH T/'( t: , fJ
organization is shown in Figure 7.
RUJDQL]DWLRQLVVKRZQLQ)LJXUH ivI
0 oq qL~E
2T = --(,,3 FRV fJȕ t'
VLQ ȕ-cos
  sin
 8  (21)

y D~OJ T/'( /oE
+
+ qLD EL 2( sin fJ(.J3 sin fJ - cos fJ)
VLQ ȕ   VLQ ȕ − FRV ȕ 
j 2
Substitute x, into Equation (21) to get:
6XEVWLWXWH[LQWR(TXDWLRQWRJHW

0 Oq
M 2T
= 2372q(.J3 VLQ fJȕ -− cos
T  sin FRV fJ)
ȕ 2
  (22)

+6488q VLQ fJ(.J3
+T sin VLQ fJȕ -− cos
ȕ   sin FRV fJ)
ȕ
Suppose F
6XSSRVH )c& is the force ofthe hydraulic cylinder on point
LVWKHIRUFHRIWKHK\GUDXOLFF\OLQGHURQSRLQW
C, the thrust of the hydraulic cylinder to point A FA
&WKHWKUXVWRIWKHK\GUDXOLFF\OLQGHUWRSRLQW$ )$ :
I 11I II1 
 )$ = )& FRV Į  (23)

Figure 7. Schematic
)LJXUH diagram of mechanical analysis of pushing sludge
6FKHPDWLFGLDJUDPRIPHFKDQLFDODQDO\VLVRISXVKLQJVOXGJH
plate
SODWH
The moment at point 0 is:
7KHPRPHQWDWSRLQW2LV
The load on the dirt-pushing plate is uniform, including
7KHORDGRQWKHGLUWSXVKLQJSODWHLVXQLIRUPLQFOXGLQJ ivI = FA FRV aL
)$ cos VLQ fJȕ -− FA VLQ aL FRV fJȕ  (24)
 0oF2)A Į/O Asin
2$ )$ sin Į/O A cos
2$ 
the
WKH resistance
UHVLVWDQFH of
RI the
WKH sludge
VOXGJH to
WR the
WKH plate
SODWH and
DQG the
WKH frictional
IULFWLRQDO $

resistance between the rubber and the bottom surface of the

UHVLVWDQFHEHWZHHQWKHUXEEHUDQGWKHERWWRPVXUIDFHRIWKH

1250
1250
Authorized licensed use limited to: Gebze Technical University. Downloaded on May 31,2023 at 19:42:19 UTC from IEEE Xplore. Restrictions apply.
 

Substitute Equation (23) into Equation (24):

6XEVWLWXWH(TXDWLRQLQWR(TXDWLRQ According
$FFRUGLQJ toWR the
WKH calculation,
FDOFXODWLRQ the
WKH specifications
VSHFLILFDWLRQV of
RI the
WKH
hydraulic
K\GUDXOLF cylinder
F\OLQGHU for
IRU the
WKH robot
URERW pushing
SXVKLQJ mechanism
PHFKDQLVP are DUH
 ivI
0 oF
2)A$ = )& LOA
= Fe /2$ (cos 
VLQ ȕ -− sin
FRV' aĮ sin,8 VLQ aĮ cos
FRV aĮ cos
FRV ,8)
ȕ  (25)
 shown in Table II.
VKRZQLQ7DEOH,,
0 OF
M ≥M
2)A$ ~ 0 Oq needs to be satisfied in order to make the
2T QHHGVWREHVDWLVILHGLQRUGHUWRPDNHWKH TABLE II.
7$%/(,, 386+,1*
PU 0(&+$1,60HYDRAULIC
SHING MECHANISM +<'5$8/,&CYLINDER
&</,1'(5
63(&,),&$7,216
SPE CIFICATIONS
dirt push plate open and close , so it can be obtained:
GLUWSXVKSODWHRSHQDQGFORVHVRLWFDQEHREWDLQHG
Telescopic rallge (mm)
7HOHVFRSLFUDQJHPP Rated pressure (1IJPa)
5DWHGSUHVVXUH03D lllller diameter (mm)
,QQHUGLDPHWHUPP
F > 2372Qe.J3sin
)& ≥
T  VLQ fJ-cos ȕ   +6488qsin
ȕ − FRV fJ)2 + T VLQ fJe.J3sin ȕ − FRV fJ)
ȕ   VLQ fJ-cos ȕ (26)
 25
 10
 40

c - LQ4 ª − 02sin'
/2$ [(l- į VLQ fJȕ )VLQ
 
sinfJȕ -o~l
− į -o2
− į  sin2
VLQ  fJ
ȕ sinfJ FRV ȕ ]º
VLQ ȕ cosfJ
¬ ¼
VI.
9, LIFTING
/,)7,1*0(&+$1,60'(6,*1
MECHANISM DESIGN 
set function f(,8)
VHWIXQFWLRQ : 
I  ȕ ˖
$ Lifting
A. mechanism design:
/LIWLQJPHFKDQLVPGHVLJQ
f(fJ) ~ 2372q(.J3
T  VLQsin fJȕ -− cos
FRV fJ)2
ȕ   + 6488q
T sinVLQ fJ(.J3 sin fJȕ -− cos
ȕ   VLQ FRV fJ)
ȕ Since the
6LQFH WKH rubber
UXEEHU part
SDUW at
DW the
WKH lower
ORZHU end
HQG of
RI the
WKH sludge
VOXGJH
[(1-
I  ȕ ≥ pushing plate of the robot is in contact with the ground , when
SXVKLQJSODWHRIWKHURERWLVLQFRQWDFWZLWKWKHJURXQGZKHQ
ª − bį sin
2

VLQ fJ)
2

VLQ fJȕ -− b~l-
ȕ  sin 2

VLQ fJȕ sin
į  − bį sin 2

FRV fJȕ ]º
VLQ fJȕ cos
¬ ¼ the robot climbs over the guide ladder, a lifting mechanism
WKHURERWFOLPEVRYHUWKHJXLGHODGGHUDOLIWLQJPHFKDQLVP
(27)
 needs to be added to lift the sludge pushing mechanism to
QHHGVWREHDGGHGWROLIWWKHVOXGJHSXVKLQJPHFKDQLVPWR
avoid interference with the guide ladder. The lifting diagram
DYRLGLQWHUIHUHQFHZLWKWKHJXLGHODGGHU7KHOLIWLQJGLDJUDP
f(,8) is aD monotonically
I  ȕ  LV PRQRWRQLFDOO\ increasing
LQFUHDVLQJ function,
IXQFWLRQ when
ZKHQ is shown in Figure 9.
LVVKRZQLQ)LJXUH
ʌ p
,8='!!....,
ȕ  the
WKH function
IXQFWLRQ takes
WDNHV the
WKH maximum
PD[LPXP value. Substitute
YDOXH 6XEVWLWXWH
2
f(,8)max into Equation
I  ȕ PD[ LQWR  to
(TXDWLRQ (27) WR get
JHW the
WKH maximum
PD[LPXP value
YDOXH of
RI
Fe . Since the pushing mud plate is symmetrical, the total
)& 6LQFHWKHSXVKLQJPXGSODWHLVV\PPHWULFDOWKHWRWDO
WKUXVW F) of
thrust RI pushing
SXVKLQJ the
WKH mud
PXG plate
SODWH can
FDQ be
EH obtained.
REWDLQHG The
7KH
formula for calculating the thrust of the hydraulic cylinder
IRUPXODIRUFDOFXODWLQJWKHWKUXVWRIWKHK\GUDXOLFF\OLQGHU
is:
LV
ʌ'2
 F 3 7rD 
) =P (28)


4
In
,Q the
WKH formula
IRUPXOD, P
3 is
LV the
WKH pressure
SUHVVXUH of
RI the
WKH hydraulic
K\GUDXOLF
cylinder, andD is the diameterofthe hydraulic cylinder. The
F\OLQGHUDQG'LVWKHGLDPHWHURIWKHK\GUDXOLFF\OLQGHU7KH
VSHFLILFDWLRQV of
specifications RI the
WKH required
UHTXLUHG hydraulic
K\GUDXOLF cylinders
F\OLQGHUV can
FDQ be
EH 
obtained from Equations 17 and 28.
REWDLQHGIURP(TXDWLRQVDQG Figure 9. Schematic
)LJXUH diagram oflifting mechanism
6FKHPDWLFGLDJUDPRIOLIWLQJPHFKDQLVP

PD[ < 0.425L

­L/e& max  /o2$A Where
:KHUH OJRac is the lift plate and OJ
DF LVWKHOLIWSODWHDQG RaD LVSHUSHQGLFXODUWR
is perpendicular to
°
 ®r = 4 x2.86 × 4 
×  x10 /2$ <100)
(0< LOA  (29)
 . The coordinate system is established in the figure, the
DF 7KHFRRUGLQDWHV\VWHPLVHVWDEOLVKHGLQWKHILJXUHWKH
ac
{° 3PLQ = dotted line is the initial state of the lifting mechanism, and
GRWWHGOLQHLVWKHLQLWLDOVWDWHRIWKHOLIWLQJPHFKDQLVPDQG
¯ nnn 7rD
ʌ' LOA
2
/2$
DF is
ac LV parallel
SDUDOOHO to
WR the
WKH chassis
FKDVVLV in
LQ the
WKH initial state. P
LQLWLDO VWDWH 3 is
LV the
WKH
Using
8VLQJ MATLAB
0$7/$% to WR draw
GUDZ the
WKH function
IXQFWLRQ diagram
GLDJUDP of
RI the
WKH pressure
SUHVVXUH exerted
H[HUWHG by E\ the
WKH sludge
VOXGJH pushing
SXVKLQJ mechanism,
PHFKDQLVP the WKH
minimum pressure P required by the hydraulic cylinder, the
PLQLPXPSUHVVXUH3UHTXLUHGE\WKHK\GUDXOLFF\OLQGHUWKH recovery pipe and the front camera on the lifting plate, which
UHFRYHU\SLSHDQGWKHIURQWFDPHUDRQWKHOLIWLQJSODWHZKLFK
stroke of the
VWURNH L/e& RI WKH hydraulic
K\GUDXOLF cylinder
F\OLQGHU and
DQG the
WKH crank
FUDQN length
OHQJWK can be concentrated at point c. The moment balance equation
FDQEHFRQFHQWUDWHGDWSRLQWF7KHPRPHQWEDODQFHHTXDWLRQ
LOA' As shown in Figure 8..
/2$ $VVKRZQLQ)LJXUH for point OJ
IRUSRLQW is listed as follows:
R LVOLVWHGDVIROORZV

 0 R = )R  /RE − /RD  + )R /DE − 3/DF  

40
In formula 19, ~
,QIRUPXOD )R3j is the thrust of the lifting hydraulic
LVWKHWKUXVWRIWKHOLIWLQJK\GUDXOLF
cylinder
F\OLQGHU is
LV perpendicular
SHUSHQGLFXODU toWR the
WKH component
FRPSRQHQW of
RI 0R3b
E 
; ~)R32 is
LV
30 H- -I-- -+-- +----+- -+-- -+-- / - -1--1-1----,
the component of the thrust of the lifting hydraulic cylinder
WKHFRPSRQHQWRIWKHWKUXVWRIWKHOLIWLQJK\GUDXOLFF\OLQGHU
I
along
DORQJ 0R3b
E  is moment of pressure and thrust at point 01
0 oR, LVPRPHQWRISUHVVXUHDQGWKUXVWDWSRLQWR
; Al .

20
I LC ma x I
The
7KH conditions
FRQGLWLRQV for
IRU the
WKH lifting
OLIWLQJ plate
SODWH to
WR be
EH lifted
OLIWHG are:
DUH
MOj >  
0 R >0.
10

­° )R = )R FRV ș

 ®  (31)

°̄ )R = )R VLQ ș
10 20 30 40 ~ 00 ro 00 00 ~

LOA  According
$FFRUGLQJ to
WR the
WKH design
GHVLJQ data
GDWD of
RI the
WKH robot,
URERW the
WKH torque
WRUTXH
Figure 8. The
)LJXUH function diagram of the minimum pressure P, hydraulic
7KHIXQFWLRQGLDJUDPRIWKHPLQLPXPSUHVVXUH3K\GUDXOLF formula of point 0 can be calculated:
IRUPXODRISRLQW2FDQEHFDOFXODWHG
cylinder stroke L
F\OLQGHUVWURNH and LOA
/e& DQG /2$ of the pushing hydraulic cylinder
RIWKHSXVKLQJK\GUDXOLFF\OLQGHU 0 OJR == 
M 1O.5F FRV șBz + 228.58F
)R cos )R sinB −  > 0 (32)
VLQ șz -70560 
oJ oJ

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Use MATLAB for programming to get the relationship

8VH0$7/$%IRUSURJUDPPLQJWRJHWWKHUHODWLRQVKLS mechanical DQDO\VLV
PHFKDQLFDO analysis RI
of WKH
the VOXGJH
sludge SXVKLQJ
pushing PHFKDQLVP
mechanism DUHare
diagram of )
GLDJUDPRI and 0
FR  șB2 DQG
O
) , as shown in Figure 10.
lvfRq DVVKRZQLQ)LJXUH
'
carried out, and the model of the hydraulic cylinder of the
FDUULHGRXWDQGWKHPRGHORIWKHK\GUDXOLFF\OLQGHURIWKH
sludge SXVKLQJ
VOXGJH pushing PHFKDQLVP
mechanism LV is GHWHUPLQHG
determined. )LQDOO\
Finally, WKH
the
mechanical analysis of the lifting mechanism is carried out,
PHFKDQLFDODQDO\VLVRIWKHOLIWLQJPHFKDQLVPLVFDUULHGRXW
25
and WKH
DQG the PRGHO
model RI
of WKH
the K\GUDXOLF
hydraulic F\OLQGHU
cylinder RI
of WKH
the OLIWLQJ
lifting
mechanism is determined. The robot adds a sludge recovery
PHFKDQLVPLVGHWHUPLQHG7KHURERWDGGVDVOXGJHUHFRYHU\
3
20
device, which greatly increases the cleaning efficiency. The
GHYLFHZKLFKJUHDWO\LQFUHDVHVWKHFOHDQLQJHIILFLHQF\7KH
robot UHOLHV
URERW relies RQ
on K\GUDXOLF
hydraulic GULYH
drive, LWV
its WUDFWLRQ
traction LV
is JUHDWO\
greatly
2
15
increased, DQG
LQFUHDVHG and LW
it FDQ
can GUDJ
drag ORQJHU
longer K\GUDXOLF
hydraulic SLSHV
pipes, WKXV
thus
E increasing the cleaning area.
LQFUHDVLQJWKHFOHDQLQJDUHD
E
1
~
a
::;;
10
$ &.12:/('*0(17
ACKNOWLEDGMENT
0
This paper is partially supported by National Key R&D
7KLVSDSHULVSDUWLDOO\VXSSRUWHGE\1DWLRQDO.H\5 '
-1 Program RI
3URJUDP of &KLQD
China 1R
(No. <)%
2018YFB1309403) DQG
and 16)&
NSFC-
2000 Shenzhen Robot Basic Research Center project (UI813201,
6KHQ]KHQ5RERW%DVLF5HVHDUFK&HQWHUSURMHFW8
0.8 UI813222).
8
·5

o 0 5()(5(1&(6
REFERENCES
 >@ Xiaoyan Yu. Analy sis on the Status of Cleaning and Maintenance of
[1] ;LDR\DQ<X$QDO\VLVRQWKH6WDWXVRI&OHDQLQJDQG0DLQWHQDQFHRI
In-service Oil Tank s[J]. Journal of Oil and Gas Technolo gy, 201 9,
,QVHUYLFH2LO7DQNV>-@-RXUQDORI2LODQG*DV7HFKQRORJ\
Figure 10. The relationship between )
)LJXUH7KHUHODWLRQVKLSEHWZHHQ FRo) , șB2 DQG
and 0M Rq  41(5): 70-74.

[2] &KU\VDOLGLV
>@ Chrysalidis $A ,  .\]DV
Kyzas *
G =
Z . $SSOLHG
Applied &OHDQLQJ
Cleaning 0HWKRGV
Methods RI
of 2LO
Oil
Residues from Industrial Tanks[J]. Processes , 2020 , 8(5):56 9.
5HVLGXHVIURP,QGXVWULDO7DQNV>-@3URFHVVHV
According WR
$FFRUGLQJ to WKH
the JHRPHWULF
geometric UHODWLRQVKLS
relationship, WKHthe OHQJWK
length RIof [3] :DQJ$-<XDQ+$SSOLFDWLRQRI&RZV&UXGH2LO7DQN&OHDQLQJ
>@ Wang A J, Yuan H. Application of Cows Crude Oil Tank Cleaning

LRqRO) can be obtained. Since 0103

/ FDQ EH REWDLQHG 6LQFH R  = 0 10 ; , 1l01030; is an
R = R R  ǻR R R LV DQ Technolo gy LQ
7HFKQRORJ\ in 7XKD
Tuha 2LO
Oil )LHOG
Field >-@>-@
[J][J]. 3LSHOLQH
Pipeline 7HFKQLTXH
Technique DQG
and
Equipment, 2012 , 5.
(TXLSPHQW
isosceles triangle. When șBl =20
LVRVFHOHVWULDQJOH:KHQ L0
°0 , ∠R10
R30 Lo
R;
= ∠RloR;03

80°0
R =  [4] +\GURYDFLQGXVWULDO SHWUROHXP6HUY2LOVWRUDJHWDQNFOHDQLQJ
>@ Hydrovac industrial & petroleum Servo (Oil storage) tank cleanin g
made easy with quick assembly unit [J]. Chern Eng (Rugby), 1986,
PDGHHDV\ZLWKTXLFNDVVHPEO\XQLW>-@&KHP(QJ5XJE\
, The length of /R
7KHOHQJWKRI L030
R
; FDQEHREWDLQHGE\WKHODZRIVLQH
can be obtained by the law of sine: 431 (12): 34

[5] 1RQ(QWU\6\VWHPV/WG7KHDOOQHZ1(6/VXSHULRU>(%2/@KWWS
>@ Non Entry Systems Ltd. The all new NESL superior [EB/OL]. http
/RR /R R
: //www. nonentry.co.uk/Man-way_Cannon.htm. 2016.12.29
˖ZZZQRQHQWU\FRXN0DQZD\B&DQQRQKWP
 =  (33)
 [6] 'HQJ6;X;/L&HWDO5HVHDUFKRQWKHRLOWDQNVOXGJHFOHDQLQJ
>@ Deng S , Xu X , Li C , et al. Research on the oil tank sludge cleaning
VLQ∠RR
R  VLQ ș robot V\VWHP>&@
URERW system [C]// ,QWHUQDWLRQDO
International &RQIHUHQFH
Conference RQon 0HFKDQLF
Mechanic
Automation & Control Engineering. IEEE, 2010.
$XWRPDWLRQ &RQWURO(QJLQHHULQJ,(((
,Q ΔR RR
E\WKHODZRIVLQH

/RR
/R R

 =  (34)

VLQ ș VLQ ∠R R R

Lo
∠ RR
; DQG
Rz03o and ∠LO R
;03can
Rzo be obtained. Using the law of
R FDQEHREWDLQHG8VLQJWKHODZRI
sine again, we get
VLQHDJDLQZHJHW
/R R
/R R
 =  (35)

VLQ∠R R R
 VLQ∠R R
R 

According to formula (35), the length of /R

$FFRUGLQJWRIRUPXODWKHOHQJWKRI L0203 can be
R FDQEH
finally obtained. The specifications of the hydraulic cylinder
ILQDOO\REWDLQHG7KHVSHFLILFDWLRQVRIWKHK\GUDXOLFF\OLQGHU
for the robot lifting mechanism are shown in Table III.
IRUWKHURERWOLIWLQJPHFKDQLVPDUHVKRZQLQ7DEOH,,,

TABLE III.
7$%/(,,, /,)7,1*0
LIFTING MECHANI SM +
(&+$1,60 YDRAULIC &
H <'5$8/,& C </,1'(5
YLINDER
6SPE CIFICATIONS
3(&,),&$7,216

Telescopic rallge (mm)

7HOHVFRSLFUDQJHPP Rated pressure (MFa)
5DWHGSUHVVXUH03D IlIlIer diameter (mm)
,QQHUGLDPHWHUPP
35
 10
 20


& 21&/86,21
CONCLUSION
Based RQ
%DVHG on WKH
the DQDO\VLV
analysis RI
of WKH
the URERW
V
robot's ZRUNLQJ
working
environment, this paper designs a crawler hydraulic sludge
HQYLURQPHQWWKLVSDSHUGHVLJQVDFUDZOHUK\GUDXOLFVOXGJH
cleaning robot. Firstly, the walking mechanism of the robot
FOHDQLQJURERW)LUVWO\WKHZDONLQJPHFKDQLVPRIWKHURERW
is GHVLJQHG
LV designed, DQG
and WKH
the DSSURSULDWH
appropriate UXEEHU
rubber WUDFN
track LV
is VHOHFWHG
selected
mainly DFFRUGLQJ
PDLQO\ according WR
to WKH
the FDOFXODWLRQ
calculation, DQG
and WKH
the VL]H
size RI
of WKH
the
driving ZKHHO
GULYLQJ wheel LV
is GHVLJQHG
designed. 6HFRQGO\
Secondly, WKH
the VL]H
size GHVLJQ
design DQG
and

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