# US 12,005,484 B2 · Apparatus, system and method for use within a tank > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,484 B2 - Document ID: US12005484B2 - Status: Granted - Kind: B2 - Application number: 18/131,974 - Filed: 2023-04-07 - Published: 2023-08-24 - Granted: 2024-06-11 - Earliest claimed: 2023-04-07 - Assignees: Contract Resources Pty Ltd - Applicants: Contract Resources Pty Ltd - Inventors: Colin Brian Nicholson - Web page: https://patentgrep.com/patent/US12005484B2 ## CPC - B08B 9/08: Cleaning containers, e.g. tanks - B08B 5/04: Cleaning by suction, with or without auxiliary action - B08B 9/087: by methods involving the use of tools, e.g. brushes, scrapers ({B08B9/0808} , B08B9/20 take precedence) - B08B 9/093: by the force of jets or sprays ({B08B9/0813} , B08B9/20 take precedence) - B08B 9/0933: {Removing sludge or the like from tank bottoms} - B08B 9/0936: {using rotating jets} - B08B 13/00: Accessories or details of general applicability for machines or apparatus for cleaning - B25J 9/0018: {Bases fixed on ceiling, i.e. upside down manipulators} - B25J 11/0085: {Cleaning} - B25J 18/025: {telescopic} - B08B 2209/08: Details of machines or methods for cleaning containers, e.g. tanks - B08B: CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract In one example there is disclosed, an apparatus (10) for vacuum cleaning a tank (11). The apparatus (10) includes a main body (12) coupled to a working arm (14) and a plurality of support legs (16) coupled to the main body (12). The main body (12) includes a main conduit (40) extending lengthwise therethrough and a common central actuator (32) fitted about by the main conduit (40). The working arm (14) includes a vacuum conduit (50) in fluid communication with the main conduit (40). The plurality of support legs (16) are operatively coupled to the common central actuator (32) so as to be simultaneously moveable at least between a collapsed condition so as to fit through an opening 18 of the tank 11, and an extended condition in which the plurality of support legs (16) are moved relatively outwardly so as to be telescopically extendable within the tank (11) to engage a side wall (20) of the tank to support the main body (12). Other examples of the apparatus, a system and related methods are also disclosed. ## Claims ### Claim 1 An apparatus for vacuum cleaning a tank, the apparatus including a main body coupled to a working arm, a plurality of support legs coupled to the main body at main body pivot points and struts coupled between each of the plurality of support legs and a common central actuator, wherein the main body includes a main conduit extending lengthwise therethrough and the common central actuator includes a cylinder fitted about the main conduit and moveable relative thereto, wherein the struts are operatively coupled to the cylinder of the common central actuator so that the plurality of support legs are moveable between a collapsed condition, in which the plurality of support legs are positioned alongside the main conduit so as to allow the main body to pass through an opening of the tank, and an extended condition in which the plurality of support legs are moved relatively outwardly. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the common central actuator and struts are arranged to pivot each of the plurality of support legs about the main body pivot points to an over centre position relative to the main body pivot points in which the plurality of support legs are engagable with the tank in the extended condition. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein a first end of the strut is pivotally coupled to the common central actuator via a central pivot arrangement and a second end of the strut is pivotally coupled to a respective one of the plurality of support legs at a position spaced apart from the main body pivot points. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein each of the plurality of support legs includes an outer member and an inner member, the outer member being linearly telescopically extendable relative to the inner member to engage with a side wall of the tank. ### Claim 5 (depends on 4) The apparatus according to claim 4, wherein each of the inner members are pivotally coupled to the main body and are pivoted toward the side wall of the tank in the extended condition such that the outer members engage with the side wall of the tank upon telescopic extension thereof. ### Claim 6 (depends on 5) The apparatus according to claim 5, wherein each of the inner members have respective proximate ends pivotally coupled to the main body, and wherein the apparatus includes struts that extend respectively between the common central actuator and each of the inner members. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein the common central actuator and struts are arranged to pivot the each of the inner members to an over centre position supported by the struts. ### Claim 8 (depends on 7) The apparatus according to claim 7, wherein each of the plurality of support legs includes a linear actuator substantially housed lengthwise along respective ones of the inner members, the linear actuator being adapted to telescopically extend and retract the outer members. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein the common central actuator is a hollow hydraulic cylinder type actuator. ### Claim 10 (depends on 1) The apparatus according to claim 1, wherein each of the plurality of support legs are adapted to be individually linearly telescopically extendable to engage with a side wall of the tank. ### Claim 11 (depends on 1) The apparatus according to claim 1, wherein each of the plurality of support legs are independently extendable such that the main body is laterally moveable within the tank in a supported state. ### Claim 12 (depends on 1) The apparatus according claim 1, wherein the main body includes a top adapted to be coupled with a support tether, a side toward which the plurality of support legs are positioned in the collapsed condition and an opposing bottom, the working arm being movably coupled to the bottom of the main body. ### Claim 13 (depends on 1) The apparatus according to claim 1, wherein the working arm further includes a vacuum conduit in fluid communication with the main conduit, wherein the vacuum conduit is coupled to the main conduit by a moveable vacuum swivel joint. ### Claim 14 (depends on 13) The apparatus according to claim 13, wherein the vacuum swivel joint is adapted to allow the working arm to move in a range of motion including a rotational motion of about 360 degrees relative to a vertical axis and a pivotal motion between a lowered vertical position about in line with the vertical axis and a raised position angled at about 60 degrees relative to the vertical axis. ### Claim 15 (depends on 13) The apparatus according to claim 13, wherein the vacuum swivel joint includes a housing and a movable conduit within the housing, the moveable conduit defining a passage between the vacuum conduit and the main conduit. ### Claim 16 (depends on 15) The apparatus according to claim 15, wherein the housing and the movable conduit are arranged such that a cross sectional area of the passage is substantially maintained over a range of motion. ### Claim 17 (depends on 15) The apparatus according to claim 15, wherein the housing includes a first aperture in fluid communication with the main conduit and a second elongate conduit that extends in a circumferential direction, and wherein the movable conduit is defined by an inner section moveable within the housing, the inner section including a first inner elongate aperture that extends in a circumferential direction in fluid communication with the first aperture of the housing and a second inner aperture that communicates with the vacuum conduit through the second elongate conduit of the housing. ### Claim 18 (depends on 1) The apparatus according to claim 1, the apparatus being adapted to communicate with a remotely located controller adapted to allow remote control of the apparatus within the tank. ### Claim 19 An apparatus for vacuum cleaning a tank, the apparatus including a main body coupled to a vacuum conduit and a plurality of support legs coupled to the main body, wherein the main body includes a main conduit extending lengthwise therethrough and a common central actuator including a movable cylinder fitted about the main conduit, and wherein the vacuum conduit is in communication with the main conduit via a vacuum swivel joint, wherein the plurality of support legs are operatively coupled to the cylinder of the common central actuator so as to be moveable between a collapsed condition, in which the plurality of support legs are positioned alongside the main conduit so as to allow the main body to pass through an opening of the tank, and an extended condition in which the plurality of support legs are extended within the tank, and wherein the vacuum swivel joint is adapted to allow the vacuum conduit to move in a range of motion including a rotational motion of about 360 degrees relative to a vertical axis and a pivotal motion between a lowered position and a raised position. ### Claim 20 An apparatus for vacuum cleaning a tank, the apparatus including a main body coupled to a working arm and a plurality of support legs coupled to the main body at a main body pivot points, wherein the main body includes a main conduit extending lengthwise therethrough and a common central actuator including a movable cylinder fitted about the main conduit, and the working arm includes a vacuum conduit in fluid communication with the main conduit, wherein each of plurality of support legs are operatively coupled to the movable cylinder of the common central actuator by respective struts so as to be simultaneously moveable between a collapsed condition, an intermediate condition, and extended condition, wherein in the collapsed condition the plurality of support legs are positioned alongside the main conduit in a retracted state so as to allow the main body to pass through an opening of the tank, in the intermediate condition the struts support the plurality of support legs in an over centre position relative to the main body pivot points, and in the extended condition in which the plurality of support legs are telescopically extended to an extended state within the tank.