结合油罐清洗的特殊作业环境和罐底油泥特性,提出安全、环保的清洗方式,系统分析了油罐清洗的实际作业流程和油罐清洗机器人清洗作业装置的总体结构。对盘刷装置的组成、刷体构造进行了设计,并进行了动力学建模,还提出滚刷装置的功能匹配和传动方案、吸污系统的总体构成和工作原理,以及吸嘴与油泥箱的结构设计分析。

Abstract： 

Put forward a safely and environmentally cleaning mode for the special work circumstance and the character of oil sludge on the bottom of tank, systematically analyzed the practical working process of oil tank cleaning and the overall structure of cleaning operation on the oil tank cleaning ro- bots. The form of tray-brush device and the structure of brush have been designed and made dynamics modeling. It also proposed the matching function and transmission scheme of the roll-brush device, the overall structure and working principle of dirt suction system, as well as the design and analysis of the structure of suction mouth and oil sludze box.