An apparatus includes a casing configured to be detachably mounted on a workpiece. The casing includes a first opening configured to expose a portion of the workpiece; a first support member coupled to the casing and constructed to move along a first axis through the casing and rotate around the first axis; a second support member coupled to the first support member and constructed to move along a second axis perpendicular to the first axis; an arm pivotally coupled to the second support member and constructed to rotate around a third axis perpendicular to the first axis and the second axis; and a cleaning head attached to the arm and constructed to rotate around a longitudinal axis of the arm. The casing includes a first plate and a second plate opposite to the first plate, wherein the cleaning head is configured to extend outside the casing through the first opening.

Systems, devices, and methods for passing vertical travel robotic tank cleaning systems through openings while mounted to existing riser structures, the system can extend to the bottom of the tank and horizontally more than approximately 30 feet. Plural systems can be used within a tank to break down solid sludge by placing high-pressure nozzle(s) in close proximity to solid waste providing maximum coverage. A mechanical arm with a nozzle assembly utilizes high- and low-pressure fluid streams to fluidize and liquefy solids while directly moving them to a centrally located transfer pump. The systems work in highly radioactive, chemically aggressive, explosive, high temperature and low temperature environments through hydraulic actuation. Multiple axis of freedom allows the arm and nozzle assembly to navigate and clean around internal obstacles and reach close proximity for maximum nozzle impingement force. Systems can be remotely operated up to approximately 1000 feet away.

A scrubbing apparatus that is adapted to clean both a mixing paddle and an inner surface of a mixing vessel having an inner diameter and a depth. The scrubbing apparatus has a central structure. Outward facing wipes are attached to the central structure, where distal ends of the outward facing wipes form a perimeter having a diameter that is no less than the inner diameter of the mixing vessel. Inward facing wipes are attached to the central structure, where distal ends of the inward facing wipes are disposed proximate one another.

A tank, such as a fermentation tank, includes a scraper blade assembly slideably coupled to a bottom surface of the tank. The scraper blade assembly includes a blade arranged to displace solids deposited on the bottom surface of the tank out through an aperture arranged flush with the bottom surface of the tank.

A robot includes a truss assembly, a walking assembly, a power unit, and a rack including a guide pillar, a second link. The truss assembly is disposed on the top of the rack. The walking assembly is disposed in the rack and fixedly connected to the rack through a bearing. The power unit is disposed on the rear end of the rack. An oil tank is provided with a hole. The truss assembly is configured to place the robot into the oil tank through the hole. The walking assembly is configured to drive the robot to move along the axis of the oil tank and to prevent the robot from toppling in the oil tank. The power unit is configured to clean the inside of the oil tank. The walking assembly includes two active walking assemblies, a drive assembly, and a folding assembly.

Method and equipment to perform controlled access to the projected location inside a storage tank, while it is operated, idle, or undergoing maintenance, to conduct an internal service from outside. This intervention from outside can be performed through an access opening in the wall or roof of the tank. In addition to other innovations, a new coiled tubing (CT) solution for multiple 3D positioning arrangements outside and inside the tank is provided for both positioning, inserting, remote control, and withdrawing the CT with the active head for the controlled accessing of the target area.

System and method for treatment of a process fluid using ultraviolet light are provided. The system may have a wall, an inlet pipe and at least one length of brushes configured to brush a fluid along a side of the wall, generating a film on the fluid to be exposed to ultraviolet light as the fluid film flows along the wall. The system and method may further utilize at least one channel to provide fluid to the wall.

A method and system for cleaning and filling a pressurizable tank is provided. An inverter is used to advantageously orient the position of the tank through the washing and filling/refilling process. An abrasive whip is used to agitate the interior surface of the tank for agitation of contaminants therein. A high-pressure washer is used to wash the contaminants from the interior of the tank. A vacuum source is used to evacuate the interior of the tank.

A large bore mobile vacuum system is used with special large bore vacuum adapters to enable a method and system for cleaning ground tanks used to store wastewater. The ground tank cleaning method and system may be safer and more efficient that conventional methods by enabling a human operator to physically remain outside of the ground tank, while preventing the contents of the ground tank from being exposed to the environment during the ground tank cleaning.

A cleaning arrangement (200) for a coating apparatus (100). The coating apparatus has a base (123) for carrying loose material. The base is rotatable to coat the loose material. The cleaning arrangement includes a base-scraping arrangement (127) and further includes a mounting arrangement (131) by which the base-scraping arrangement is mounted to be reversibly lowered, from a coating position, to a scraping position at which the base-scraping arrangement is positioned to scrape buildup from the base.