Systems and Methods for Cleaning and Maintenance of Tanks
A manipulator boom assembly for releasable attachment to a manway of a tank. The manipulator boom assembly includes an elongated and curved boom defining an arcuate shape along a length of the boom, a base adapted to be releasably mounted to the manway of the tank, and a drive coupled to the boom, where the boom is movable by the drive relative to the base and the manway between a retracted position and an extended position within the tank.
1 . A manipulator boom control and cleaning system for releasable attachment to a manway of a tank, the system comprising:
an elongated and curved boom defining an arcuate shape along a length of the boom;
a base adapted to be releasably mounted to the manway of the tank;
a drive coupled to the boom, the boom movable by the drive relative to the base and the manway between a retracted position and an extended position within the tank;
a manipulator arm positioned on an end of the boom comprising a nozzle, wherein the manipulator arm is movable relative to the boom and wherein the manipulator arm comprises a joint configured to adjust orientation of the nozzle;
a camera, wherein the camera provides visual information for a user; and
a display screen and a control panel with one or more user-manipulatable controls, wherein the display screen enables the user to view camera images from the inside the tank, and wherein the control panel includes user-manipulatable controls that enable the user to operate the system.
2 . (canceled)
3 . The system of claim 1 , wherein the elongated and curved boom includes a raceway extending along the boom and by which the boom is driven to move relative to the base and the manway.
4 - 5 . (canceled)
6 . The system of claim 1 , wherein the arcuate shape extends along at least a majority of the length of the boom.
7 - 8 . (canceled)
9 . The system of claim 1 , wherein the boom moves in an arcuate path relative to the base and manway responsive to being driven by the drive.
10 - 12 . (canceled)
13 . The system of claim 1 , wherein the boom is oriented at an oblique angle with respect to a vertical axis in the extended position of the boom.
14 . The system of claim 13 , further comprising a wedge coupled to a housing of the base, the wedge orienting the boom at the oblique angle with respect to the vertical axis.
15 . The system of claim 14 , wherein the oblique angle of the boom relative to the vertical axis is adjustable.
16 - 38 . (canceled)
39 . A cleaning assembly system for a tank having an opening, the system comprising:
a base adapted to be releasably mounted to the tank at the opening;
a drive;
an arcuate boom coupled to the drive and the base, and movable by the drive to different positions within the tank;
a manipulator arm coupled to a first end of the arcuate boom, the manipulator arm including a first joint having a first axis of rotation and a second joint having a second axis of rotation oblique with respect to the first axis of rotation;
a nozzle coupled to the manipulator arm and through which a cleaning fluid is discharged toward one or more inside surfaces of the tank;
a camera, wherein the camera provides visual information for a user;
a display screen and a control panel with one or more user-manipulatable controls, wherein the display screen enables the user to view camera images from the inside the tank, and wherein the control panel includes user-manipulatable controls that enable the user to operate the system; and
a ventilation assembly comprising a ventilation duct and a fan, wherein the ventilation assembly at least one of draws contaminated air out of the tank and blows clean air into the tank.
40 . (canceled)
41 . The system of claim 39 , wherein the arcuate boom includes a raceway extending along the boom and by which the boom is driven to move relative to the base and the opening.
42 - 43 . (canceled)
44 . The system of claim 39 , wherein the arcuate shape extends along at least a majority of the length of the boom.
45 - 46 . (canceled)
47 . The system of claim 39 , wherein the boom moves in an arcuate path relative to the base and opening responsive to being driven by the drive.
48 - 50 . (canceled)
51 . The system of claim 39 , wherein the boom is oriented at an oblique angle with respect to a vertical axis in the extended position of the boom.
52 . The system of claim 51 , further comprising a wedge coupled to a housing of the base, the wedge orienting the boom at the oblique angle with respect to the vertical axis.
53 . The system of claim 52 , wherein the oblique angle of the boom relative to the vertical axis is adjustable.
54 - 58 . (canceled)
59 . The system of claim 1 , further comprising a light coupled to the manipulator arm.
60 . The system of claim 1 , wherein user-manipulatable controls comprise one or more of a touchscreen, joystick, levers, switches, buttons, and graphical user interface.
61 . The system of claim 1 , further comprising a second camera coupled to the base or suspended into the tank from the base.
62 . The system of claim 39 , further comprising a light coupled to the manipulator arm.
63 . The system of claim 39 , wherein user-manipulatable controls comprise one or more of a touchscreen, joystick, levers, switches, buttons, and graphical user interface.
64 . The system of claim 39 , further comprising a second camera coupled to the base or suspended into the tank from the base.