CN115301650A - Self-moving type carbon black pipeline dredging robot and working method thereof - Google Patents
Self-moving type carbon black pipeline dredging robot and working method thereof Download PDFInfo
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- CN115301650A CN115301650A CN202211239482.7A CN202211239482A CN115301650A CN 115301650 A CN115301650 A CN 115301650A CN 202211239482 A CN202211239482 A CN 202211239482A CN 115301650 A CN115301650 A CN 115301650A
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- 239000006229 carbon black Substances 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 200
- 230000005540 biological transmission Effects 0.000 claims abstract description 127
- 238000003860 storage Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 8
- 230000008878 coupling Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 9
- 238000005859 coupling reaction Methods 0.000 description 9
- 238000010079 rubber tapping Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Abstract
The invention relates to the technical field of carbon black conveying pipeline dredging, in particular to a self-moving type carbon black pipeline dredging robot and a working method thereof, wherein the self-moving type carbon black pipeline dredging robot comprises a pneumatic mechanism, a left knocking mechanism and a right knocking mechanism; the left knocking mechanism and the right knocking mechanism can move in the vertical direction and the horizontal direction; the left knocking mechanism comprises a left swinging part; the left swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a left preset area; the right knocking mechanism comprises a right swinging part; the right swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a right preset area. The self-moving type carbon black pipeline dredging robot is suitable for severe working environments, and the safety and the reliability of dredging work are guaranteed. The left swinging part and the right swinging part can replace or assist the manual work to beat the pipe wall of the carbon black conveying pipeline, and the dredging efficiency and the dredging effect are guaranteed.
Description
Technical Field
The invention relates to the technical field of carbon black conveying pipeline dredging, in particular to a self-moving type carbon black pipeline dredging robot and a working method thereof.
Background
At present, a carbon black conveying pipeline is used for conveying carbon black in the carbon black production process of chemical enterprises related to carbon black production. During the long-term work of carbon black conveying pipeline, the inboard of its pipe wall can be attached to and store up a lot of and glue the thing, and these glue the thing and can lead to carbon black conveying pipeline's transmission capacity and transport efficiency to descend, influence the normal production of enterprise. Therefore, the carbon black conveying pipeline needs to be cleaned and dredged regularly. Under the general condition, the work of clearing and dredging is finished manually, the work progress of clearing and dredging is slow, and the production efficiency requirements of enterprises cannot be met.
Therefore, it is an urgent technical problem to provide a device which is suitable for a severe working environment and can ensure the dredging efficiency of a carbon black conveying pipeline.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the self-moving type carbon black pipeline dredging robot which can move flexibly, adapts to severe operating environment, has high dredging efficiency of the carbon black conveying pipeline, high working safety and reliability, compact structure, convenient operation and maintenance and low use cost and the working method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-moving type carbon black pipeline dredging robot comprises a pneumatic mechanism, a left knocking mechanism and a right knocking mechanism;
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism can move in the vertical direction and the horizontal direction;
the left knocking mechanism comprises a left swinging part; the left swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a left preset area;
the right knocking mechanism comprises a right swinging part; the right swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a right preset area.
In some embodiments, the left swing portion comprises a left swing rod and a left hammer head;
the left end of the left swinging rod is in transmission connection with a pneumatic mechanism;
the left hammer head is of a cylindrical structure, and the side wall of the left hammer head is fixedly connected with the left end of the left swinging rod;
the right swinging part comprises a right swinging rod and a right hammer head;
the right end of the right swinging rod is in transmission connection with a pneumatic mechanism;
the right hammer is of a cylindrical structure, and the side wall of the right hammer is fixedly connected with the right end of the swinging rod.
In some specific embodiments, the pneumatic mechanism comprises an explosion-proof motor, an air pump, an air storage tank, a left pneumatic motor and a right pneumatic motor;
the output shaft of the explosion-proof motor is connected with the air pump;
the air storage tank is respectively communicated with the air pump, the left pneumatic motor and the right pneumatic motor;
the output shaft of the left pneumatic motor is in transmission connection with the left end of the left oscillating rod and can drive the left end of the left oscillating rod to periodically oscillate;
the output shaft of the right pneumatic motor is in transmission connection with the right end of the right swing rod and can drive the right end of the right swing rod to swing periodically.
In some of these embodiments, the left tapping mechanism further comprises a first drive link, a second drive link, a third drive link, and a fourth drive link;
the axis of the first transmission rod is vertically arranged, the bottom of the first transmission rod is connected with an output shaft of a left pneumatic motor through a left coupler, and the top of the first transmission rod is rotatably connected with one end of a second transmission rod;
the axis of the third transmission rod is vertical to the axis of the first transmission rod, one end of the third transmission rod is rotatably connected with one end of the fourth transmission rod, and the other end of the third transmission rod is fixedly connected with the other end of the second transmission rod;
the other end of the fourth transmission rod is fixedly connected with the side wall of the left hammer head;
the right knocking mechanism also comprises a fifth transmission rod, a sixth transmission rod, a seventh transmission rod and an eighth transmission rod;
the axis of the fifth transmission rod is vertically arranged, the bottom of the fifth transmission rod is connected with the output shaft of the right pneumatic motor through a right coupler, and the top of the fifth transmission rod is rotatably connected with one end of the sixth transmission rod;
the axis of the seventh transmission rod is perpendicular to the axis of the fifth transmission rod, one end of the seventh transmission rod is rotatably connected with one end of the eighth transmission rod, and the other end of the seventh transmission rod is fixedly connected with the other end of the sixth transmission rod;
the other end of the eighth transmission rod is fixedly connected with the side wall of the right hammer head.
In some of these embodiments, a crawler chassis is also included;
the pneumatic mechanism, the left swing part and the right swing part are arranged on the crawler chassis and can move in the horizontal direction along with the crawler chassis.
In some specific embodiments, the device further comprises a guide rail and a vertical moving mechanism;
the axis of the guide rail is vertically arranged, and the bottom end of the guide rail is fixedly connected with the top end of the crawler chassis;
the vertical moving mechanism is integrally arranged above the top surface of the crawler chassis and comprises a supporting seat;
the plane of the supporting seat is parallel to the axis of the guide rail, one side surface of the supporting seat is connected to the guide rail in a sliding mode, the left side of the other side surface of the supporting seat is rotatably connected with the left swinging portion, the right side of the other side surface of the supporting seat is rotatably connected with the right swinging portion, and a pneumatic mechanism is fixed in the middle of the other side surface of the supporting seat.
In some embodiments, the section of the guide rail perpendicular to the axis is of an I-shaped structure, and two opposite sides are respectively provided with a guide groove;
the vertical moving mechanism also comprises a roller;
the rollers are two and can be respectively and rotatably accommodated in the guide grooves on the two sides.
The working method of the self-moving carbon black pipeline dredging robot based on the same conception comprises the following steps:
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism move along the horizontal direction along with the crawler chassis;
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism move along the vertical direction along with the vertical moving mechanism;
the pneumatic mechanism drives the left swing part of the left knocking mechanism to periodically swing in the left preset area, and drives the right swing part of the right knocking mechanism to periodically swing in the right preset area.
The invention has the beneficial effects that:
(1) The self-moving carbon black pipeline dredging robot is positioned on the outer side of the pipe wall when in work, and has little influence on the flow of carbon black in the carbon black conveying pipeline compared with the mode of being installed on the inner side of the pipe wall.
(2) The pneumatic mechanism drives the left knocking mechanism and the right knocking mechanism to work respectively, so that the self-moving carbon black pipeline dredging robot is suitable for severe operation environments, and the safety and the reliability of dredging work are guaranteed.
(3) The whole structure is relatively simple, the operation and the maintenance are convenient, and the manufacturing cost is lower.
(4) The whole structure is compact, the miniaturization design is realized, the transportation mode is flexible, the coverage area of the operation space is large, and the self-moving carbon black pipeline dredging robot is more favorable for application.
(5) The left swing part of the left knocking mechanism and the right swing part of the right knocking mechanism can replace or assist the pipe wall of the carbon black conveying pipeline to be dredged in the carbon black conveying pipeline, and the dredging efficiency and the dredging effect of the carbon black conveying pipeline are guaranteed.
(6) Because left knocking mechanism and right knocking mechanism can reciprocate along carbon black conveying pipeline's axial for left knocking mechanism can beat a plurality of point locations on the left of carbon black conveying pipeline's outer wall, and makes right knocking mechanism can beat a plurality of point locations on the right side of carbon black conveying pipeline's outer wall, has further improved carbon black conveying pipeline's mediation effect.
Drawings
FIG. 1 is a front view of a self-moving type carbon black pipeline dredging robot in a working state;
FIG. 2 is a top view of the self-moving type carbon black pipeline dredging robot shown in FIG. 1;
FIG. 3 is a front view of a self-moving type carbon black pipeline dredging robot in a moving state;
FIG. 4 is a schematic diagram of the working process of the self-moving carbon black pipeline dredging robot.
In the figure, 110, a pneumatic mechanism; 111. an explosion-proof motor; 112. an air pump; 113. a gas storage tank; 114. a left pneumatic motor; 115. a right pneumatic motor; 120. a left knocking mechanism; 121. a left swing lever; 122. a left hammer head; 123. a first drive lever; 124. a second transmission rod; 125. a third transmission rod; 126. a fourth transmission rod; 127. a left coupling; 130. a right knocking mechanism; 131. a right swing lever; 132. a right hammer head; 133. a fifth transmission rod; 134. a sixth transmission rod; 135. a seventh drive link; 136. an eighth drive link; 137. a right coupling; 140. a crawler chassis; 150. a guide rail; 161. a supporting seat; 162. a left fixed seat; 163. a right fixed seat; 164. a roller; 200. carbon black conveying pipeline.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "top," "bottom," "inner," "outer," "axial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention or for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," "secured," "engaged," "hinged," and the like are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, 2 and 3, the self-moving type carbon black pipeline dredging robot comprises a pneumatic mechanism 110, a left knocking mechanism 120 and a right knocking mechanism 130. Wherein the pneumatic mechanism 110, the left tapping mechanism 120 and the right tapping mechanism 130 are movable in a vertical direction and a horizontal direction. The left knocking mechanism 120 includes a left swing portion, which is in transmission connection with the pneumatic mechanism 110 and can swing periodically in a left preset area. The right knocking mechanism 130 includes a right swinging portion, and the right swinging portion is in transmission connection with the pneumatic mechanism 110 and can swing periodically in a right preset area.
In this embodiment, the axis of the carbon black conveying pipe 200 is arranged vertically. The pneumatic mechanism 110, the left knocking mechanism 120, and the right knocking mechanism 130 are movable in a horizontal direction so that the pneumatic mechanism 110, the left knocking mechanism 120, and the right knocking mechanism 130 can be close to the carbon black conveying pipe 200 or far from the carbon black conveying pipe 200. The pneumatic mechanism 110, the left knocking mechanism 120, and the right knocking mechanism 130 are movable in the vertical direction so that the pneumatic mechanism 110, the left knocking mechanism 120, and the right knocking mechanism 130 can move up and down along the axial direction of the carbon black conveying pipe 200. The left swinging part is in transmission connection with the pneumatic mechanism 110, and the pneumatic mechanism 110 drives the left swinging part to periodically swing in a left preset area, so as to achieve the purpose of periodically knocking the left side of the outer wall of the carbon black conveying pipeline 200. The right swinging part is in transmission connection with the pneumatic mechanism 110, and the pneumatic mechanism 110 drives the right swinging part to periodically swing in a right preset area so as to achieve the purpose of periodically knocking the right side of the outer wall of the carbon black conveying pipeline 200. The self-moving type carbon black pipeline dredging robot is located on the outer side of the pipe wall when working, and has little influence on the flow of carbon black in the carbon black conveying pipeline 200 compared with the mode of being installed on the inner side of the pipe wall. The pneumatic mechanism 110 respectively drives the left knocking mechanism 120 and the right knocking mechanism 130 to work, so that the self-moving carbon black pipeline dredging robot is suitable for severe working environments, and the safety and the reliability of dredging work are guaranteed. The structure is relatively simple, the operation and the maintenance are convenient, and the manufacturing cost is lower. The overall structure is also relatively compact, the miniaturized design is realized, the transportation mode is flexible, the coverage area of the operation space is large, and the self-moving type carbon black pipeline dredging robot is more favorable for application. The left swing part of the left knocking mechanism 120 and the right swing part of the right knocking mechanism 130 can replace or assist manual knocking on the pipe wall of the carbon black conveying pipeline 200 so as to dredge the inside of the carbon black conveying pipeline 200, and therefore the dredging efficiency and the dredging effect of the carbon black conveying pipeline 200 are guaranteed. Because the left knocking mechanism 120 and the right knocking mechanism 130 can move up and down along the axial direction of the carbon black conveying pipeline 200, the left knocking mechanism 120 can knock a plurality of point positions on the left side of the outer wall of the carbon black conveying pipeline 200, and the right knocking mechanism 130 can knock a plurality of point positions on the right side of the outer wall of the carbon black conveying pipeline 200, so that the dredging effect of the carbon black conveying pipeline 200 is further improved.
In some embodiments of the present invention, there is more than one left tapping mechanism 120 and right tapping mechanism 130. The larger number of the left knocking mechanisms 120 and the right knocking mechanisms 130 can further improve the dredging effect of the carbon black conveying pipeline 200. The small number of the left knocking mechanisms 120 and the small number of the right knocking mechanisms 130 are beneficial to realizing the miniaturization design of the self-moving type carbon black pipeline dredging robot.
In some embodiments of the present invention, the left swinging portion includes a left swinging rod 121 and a left hammer head 122, and a left end of the left swinging rod 121 is in transmission connection with the pneumatic mechanism 110. The left swing lever 121 is driven to swing periodically by the pneumatic mechanism 110. The left hammer 122 is a cylindrical structure, and the side wall of the left hammer is fixedly connected with the left end of the left swing rod 121. Specifically, the left hammer head 122 is welded to the left end of the left swing lever 121. The left oscillating rod 121 which oscillates periodically drives the left hammer 122 to beat the outer wall of the carbon black conveying pipeline 200 periodically. The right swinging part comprises a right swinging rod 131 and a right hammer 132, and the right end of the right swinging rod 131 is in transmission connection with the pneumatic mechanism 110. The right swing lever 131 is driven to swing periodically by the pneumatic mechanism 110. The right hammer 132 is a cylindrical structure, and the side wall of the right hammer is fixedly connected with the right end of the right swinging rod 131. The right hammer 132 is welded to the right end of the right swing lever 131. The right hammer 132 is driven by the right swinging rod 131 which swings periodically to beat the outer wall of the carbon black conveying pipeline 200 periodically. The left hammer 122 and the right hammer 132 can effectively improve the beating force on the outer wall of the carbon black conveying pipeline 200, and then the sticky objects attached to the inner wall of the carbon black conveying pipeline 200 are easy to fall off. In the knocking process, the side walls of the left hammer 122 and the right hammer 132 of the cylindrical structure are respectively in contact with the outer wall of the carbon black conveying pipeline 200, the contact area of the outer wall of the left hammer 122 and the outer wall of the carbon black conveying pipeline 200 and the contact area of the outer wall of the right hammer 132 and the outer wall of the carbon black conveying pipeline 200 are increased, the knocking force is transmitted to the side wall of the carbon black conveying pipeline 200 in a more gentle mode, and then the side wall of the carbon black conveying pipeline 200 is not easy to be damaged.
In some embodiments of the present invention, the pneumatic mechanism 110 includes an explosion-proof electric motor 111, an air pump 112, an air tank 113, a left pneumatic motor 114, and a right pneumatic motor 115. The output shaft of the explosion-proof motor 111 is connected to the air pump 112, and can drive the air pump 112 to operate. The air storage tank 113 is respectively communicated with the air pump 112, the left air motor 114 and the right air motor 115 through air pipes. The gas tank 113 stores compressed gas therein. The air pump 112 in the operating state can drive the compressed air in the air tank 113 to flow to the left air motor 114 and the right air motor 115, respectively, so that the left air motor 114 and the right air motor 115 operate, respectively. An output shaft of the left pneumatic motor 114 is in transmission connection with the left end of the left swing rod 121, and can drive the left end of the left swing rod 121 to swing periodically, so that the left hammer 122 can strike the side wall of the carbon black conveying pipeline 200 periodically. An output shaft of the right pneumatic motor 115 is in transmission connection with the right end of the right swing rod 131, and can drive the right end of the right swing rod 131 to swing periodically, so that the right hammer 132 can strike the side wall of the carbon black conveying pipeline 200 periodically.
In some embodiments of the present invention, the left tapping mechanism 120 further comprises a first transmission rod 123, a second transmission rod 124, a third transmission rod 125 and a fourth transmission rod 126. The first transmission rod 123 has its axis arranged vertically, the bottom connected to the output shaft of the left air motor 114 via a left coupling 127, and the top rotatably connected to one end of the second transmission rod 124. The axis of the third transmission rod 125 is perpendicular to the axis of the first transmission rod 123, one end of the third transmission rod is rotatably connected with one end of the fourth transmission rod 126, and the other end of the third transmission rod is fixedly connected with the other end of the second transmission rod 124. The other end of the fourth transmission rod 126 is fixedly connected with the side wall of the left hammer head 122. Wherein the left coupling 127 is a 90 ° coupling. The left pneumatic motor 114 drives the first transmission rod 123, the second transmission rod 124, the third transmission rod 125 and the fourth transmission rod 126 to move through the left coupler 127, and further drives the left end of the left swinging rod 121 to swing. The right tapping mechanism 130 includes a fifth drive link 133, a sixth drive link 134, a seventh drive link 135 and an eighth drive link 136. The axis of the fifth transmission rod 133 is vertically arranged, the bottom of the fifth transmission rod is connected with the output shaft of the right pneumatic motor 115 through a right coupling 137, and the top of the fifth transmission rod is rotatably connected with one end of the sixth transmission rod 134. The axis of the seventh transmission rod 135 is perpendicular to the axis of the fifth transmission rod 133, one end of the seventh transmission rod is rotatably connected to one end of the eighth transmission rod 136, and the other end of the seventh transmission rod is fixedly connected to the other end of the sixth transmission rod 134. The other end of the eighth transmission rod 136 is fixedly connected with the side wall of the right ram 132. Wherein the right coupling 137 is a 90 ° coupling. The right pneumatic motor 115 drives the fifth transmission rod 133, the sixth transmission rod 134, the seventh transmission rod 135 and the eighth transmission rod 136 to move through the right coupling 137, and further drives the right end of the right swinging rod 131 to swing. The left knocking mechanism 120 and the right knocking mechanism 130 are compact in overall design and can stably transmit. The reliability is high during transmission, and the stable work of the left knocking mechanism 120 and the right knocking mechanism 130 is facilitated.
In some embodiments of the invention, the self-moving carbon black pipe pull through robot further comprises a crawler chassis 140. The pneumatic mechanism 110, the left swing portion, and the right swing portion are provided on the crawler chassis 140, and are movable in the horizontal direction with the crawler chassis 140. Specifically, the middle of the crawler chassis 140 is provided with a mounting seat, and the opposite sides are provided with crawler wheels. Be equipped with driving motor in the mount pad, can drive the athey wheel and rotate. The pneumatic mechanism 110, the left striking mechanism 120, and the right striking mechanism 130 are integrally mounted above the top of the mount. The crawler chassis 140 can move toward or away from the carbon black conveying pipe 200, and in turn, the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 are driven to be close to the carbon black conveying pipe 200 or far away from the carbon black conveying pipe 200. When the crawler chassis 140 moves, the balance and the stability are better, so that the self-moving carbon black pipeline dredging robot is not prone to side turning. When the carbon black conveying pipeline is parked and moved, the left knocking mechanism 120 and the right knocking mechanism 130 are located at the lowest positions and are limited to move, so that the stability is high, the balance is strong, and the left knocking mechanism 120 and the right knocking mechanism 130 can stably knock the side wall of the carbon black conveying pipeline 200.
In some embodiments of the present invention, the self-moving type carbon black pipeline dredging robot further comprises a guide rail 150 and a vertical moving mechanism. The axis of the guide rail 150 is vertically arranged, the bottom end of the guide rail is connected with the top end of the mounting seat of the crawler chassis 140 in a welding mode, and the connection stability is high. The vertical moving mechanism is integrally disposed above the top surface of the crawler chassis 140, and includes a support base 161, a left fixing base 162, and a right fixing base 163. The plane of the supporting seat 161 is parallel to the axis of the guide rail 150, one side of the supporting seat is slidably connected to the guide rail 150, the left side of the middle of the other side of the supporting seat is fixed with a left fixing seat 162, and the right side of the middle of the other side of the supporting seat is fixed with a right fixing seat 163. The plane of the left fixing seat 162 is perpendicular to the plane of the supporting seat 161. The plane of the right fixed seat 163 is perpendicular to the plane of the support seat 161. The left side of the left fixed seat 162 is rotatably connected with the right end of the left swing lever 121 of the left swing portion, and the right side is rotatably connected with one end of the second transmission rod 124 far away from the third transmission rod 125. The right side of the right fixed seat 163 is rotatably connected with the left end of the right swing lever 131 of the right swing portion, and the left side is rotatably connected with one end of the sixth transmission rod 134 far away from the seventh transmission rod 135. The explosion-proof motor 111 and the air pump 112 of the pneumatic mechanism 110 are screwed to the lower part of one side of the support base 161 facing away from the guide rail 150, the air tank 113 is welded to the upper part of one side of the support base 161 facing away from the guide rail 150, and the left pneumatic motor 114 and the right pneumatic motor 115 are screwed to the middle part of one side of the support base 161 facing away from the guide rail 150. The left transmission mechanism is integrally arranged in the middle of one side surface of the support base 161, which is back to the guide rail 150, and the right transmission mechanism is integrally arranged in the middle of one side surface of the support base 161, which is back to the guide rail 150.
In some embodiments of the present invention, the cross-section of the guide rail 150 perpendicular to the axis is an "i" shape, and two opposite sides are respectively provided with a guide groove. The vertical movement mechanism further includes a roller 164 and a roller driving motor. The rollers 164 are two and are rotatably received in the guide grooves at both sides, respectively. The two roller driving motors (not shown in the figure) are respectively installed in the middle of one side of the support base 161 close to the guide rail 150, and are connected with the middle of the two rollers 164 in a one-to-one correspondence manner, so as to drive the two rollers 164 to roll along the guide grooves respectively. The roller 164 driving motor is an explosion-proof motor 111. The two rollers 164 are driven by the two roller 164 driving motors to move along the guide grooves on the corresponding sides, so that the support base 161 can move up and down, and the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 can move in the vertical direction.
In some embodiments of the present invention, a pipeline flaw detection device such as a crack detector is installed on the supporting base 161, so that it can be timely found that the carbon black conveying pipeline 200 is damaged.
Referring to fig. 4, the invention also provides a working method of the self-moving type carbon black pipeline dredging robot, which comprises the following steps:
s100, the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 move along the horizontal direction along with the crawler chassis 140.
In this step, the pneumatic mechanism 110, the left tapping mechanism 120, and the right tapping mechanism 130 are all at the lowest position in the vertical direction, and are restricted from moving upward. The crawler chassis 140 is moved to one side of the carbon black conveying pipeline 200 to be dredged, so that the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 are moved to one side of the carbon black conveying pipeline 200 to be dredged in a horizontal direction.
S200, the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 move along the vertical direction along with the vertical moving mechanism.
In this step, after the crawler chassis 140, the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 are moved to the right, the two motors drive the two rollers 164 to move along the guide grooves on the corresponding sides, respectively, so as to move the supporting base 161, and thus move the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 upward.
And S300, the pneumatic mechanism 110 drives the left swinging part of the left knocking mechanism 120 to periodically swing in a left preset area, and drives the right swinging part of the right knocking mechanism 130 to periodically swing in a right preset area.
In this step, during the upward movement of the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130, or when the upward movement of the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130 is stopped, or during the downward movement of the pneumatic mechanism 110, the left knocking mechanism 120 and the right knocking mechanism 130, the explosion-proof motor 111 drives the air pump 112 to operate, thereby operating the left pneumatic motor 114 and the right pneumatic motor 115. The left pneumatic motor 114 drives the left hammer 122 to periodically swing through the left transmission mechanism, so as to periodically beat the left side of the outer wall of the carbon black conveying pipeline 200. The right pneumatic motor 115 drives the right hammer head 132 to periodically swing through a right transmission mechanism, so as to periodically knock the right side of the outer wall of the carbon black conveying pipeline 200. After the dredging task is completed, the supporting seat 161 drives the pneumatic mechanism 110, the left knocking mechanism 120, the right knocking mechanism 130, the left transmission mechanism and the right transmission mechanism to move down to the initial positions, so as to perform the next working cycle.
On the whole, the self-moving carbon black pipeline dredging robot can move flexibly, is positioned at the outer side of the pipe wall during working, and has little influence on the flow of carbon black in the carbon black conveying pipeline 200 compared with a mode of being installed at the inner side of the pipe wall. The pneumatic mechanism 110 respectively drives the left knocking mechanism 120 and the right knocking mechanism 130 to work, so that the self-moving carbon black pipeline dredging robot is suitable for severe working environments, and the safety and the reliability of dredging work are guaranteed. Overall structure is comparatively compact, realizes miniaturized design, and the required space of during operation is less, more is favorable to the application of self-moving carbon black pipeline mediation robot. The left swing part of the left knocking mechanism 120 and the right swing part of the right knocking mechanism 130 can replace or assist manual knocking on the pipe wall of the carbon black conveying pipeline 200, and therefore dredging efficiency and dredging effect of the carbon black conveying pipeline 200 are guaranteed. Because the left knocking mechanism 120 and the right knocking mechanism 130 can move up and down along the axial direction of the carbon black conveying pipeline 200, the left knocking mechanism 120 can knock a plurality of points on the left side of the outer wall of the carbon black conveying pipeline 200, and the right knocking mechanism 130 can knock a plurality of points on the right side of the outer wall of the carbon black conveying pipeline 200, so that the dredging effect of the carbon black conveying pipeline 200 is further improved. Moreover, the self-moving carbon black pipeline dredging robot can work circularly and can adapt to installation errors and deformation of mechanical structures in severe environments.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," "one specific embodiment," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of terms does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the scope of the present invention by equivalent replacement or change according to the technical solution and the inventive concept of the present invention within the scope of the present disclosure.
Claims (8)
1. The utility model provides a from formula of moving carbon black pipeline mediation robot which characterized in that includes:
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism;
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism can move in the vertical direction and the horizontal direction;
the left knocking mechanism comprises a left swinging part; the left swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a left preset area;
the right knocking mechanism comprises a right swinging part; the right swinging part is in transmission connection with the pneumatic mechanism and can periodically swing in a right preset area.
2. The self-moving carbon black pipeline dredging robot as claimed in claim 1, wherein the left swinging part comprises a left swinging rod and a left hammer head;
the left end of the left swinging rod is in transmission connection with the pneumatic mechanism;
the left hammer head is of a cylindrical structure, and the side wall of the left hammer head is fixedly connected with the left end of the left swinging rod;
the right swinging part comprises a right swinging rod and a right hammer head;
the right end of the right swinging rod is in transmission connection with the pneumatic mechanism;
the right hammer is of a cylindrical structure, and the side wall of the right hammer is fixedly connected with the right end of the swinging rod.
3. The self-moving carbon black pipeline dredging robot as claimed in claim 2, wherein the pneumatic mechanism comprises an explosion-proof motor, an air pump, an air storage tank, a left pneumatic motor and a right pneumatic motor;
an output shaft of the explosion-proof motor is connected with the air pump;
the air storage tank is respectively communicated with the air pump, the left pneumatic motor and the right pneumatic motor;
an output shaft of the left pneumatic motor is in transmission connection with the left end of the left oscillating rod and can drive the left end of the left oscillating rod to periodically oscillate;
and an output shaft of the right pneumatic motor is in transmission connection with the right end of the right oscillating rod and can drive the right end of the right oscillating rod to periodically oscillate.
4. The self-moving carbon black pipeline dredging robot as claimed in claim 3, wherein the left knocking mechanism further comprises a first transmission rod, a second transmission rod, a third transmission rod and a fourth transmission rod;
the axis of the first transmission rod is vertically arranged, the bottom of the first transmission rod is connected with the output shaft of the left pneumatic motor through a left coupler, and the top of the first transmission rod is rotatably connected with one end of the second transmission rod;
the axis of the third transmission rod is perpendicular to the axis of the first transmission rod, one end of the third transmission rod is rotatably connected with one end of the fourth transmission rod, and the other end of the third transmission rod is fixedly connected with the other end of the second transmission rod;
the other end of the fourth transmission rod is fixedly connected with the side wall of the left hammer head;
the right knocking mechanism further comprises a fifth transmission rod, a sixth transmission rod, a seventh transmission rod and an eighth transmission rod;
the axis of the fifth transmission rod is vertically arranged, the bottom of the fifth transmission rod is connected with the output shaft of the right pneumatic motor through a right coupler, and the top of the fifth transmission rod is rotatably connected with one end of the sixth transmission rod;
the axis of the seventh transmission rod is perpendicular to the axis of the fifth transmission rod, one end of the seventh transmission rod is rotatably connected with one end of the eighth transmission rod, and the other end of the seventh transmission rod is fixedly connected with the other end of the sixth transmission rod;
the other end of the eighth transmission rod is fixedly connected with the side wall of the right hammer head.
5. The self-moving carbon black pipeline dredging robot of any one of claims 1-4, further comprising a crawler chassis;
the pneumatic mechanism, the left swing part and the right swing part are arranged on the crawler chassis and can move along with the crawler chassis in the horizontal direction.
6. The self-moving carbon black pipeline dredging robot as claimed in claim 5, further comprising a guide rail and a vertical moving mechanism;
the axis of the guide rail is vertically arranged, and the bottom end of the guide rail is fixedly connected with the top end of the crawler chassis;
the vertical moving mechanism is integrally arranged above the top surface of the crawler chassis and comprises a supporting seat;
the plane of the supporting seat is parallel to the axis of the guide rail, one side surface can be connected to the guide rail in a sliding mode, the left side of the other side surface is connected with the left swinging portion in a rotating mode, the right side of the other side surface is connected with the right swinging portion in a rotating mode, and the middle of the other side surface is fixed with the pneumatic mechanism.
7. The self-moving type carbon black pipeline dredging robot as claimed in claim 6, wherein the cross section of the guide rail perpendicular to the axis is of an I-shaped structure, and two opposite sides are respectively provided with a guide groove;
the vertical moving mechanism further comprises a roller;
the number of the rollers is two, and the rollers are respectively and rotatably accommodated in the guide grooves on the two sides.
8. A working method of a self-moving type carbon black pipeline dredging robot is characterized by comprising the following steps:
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism move along the horizontal direction along with the crawler chassis;
the pneumatic mechanism, the left knocking mechanism and the right knocking mechanism move along the vertical direction along with the vertical moving mechanism;
the pneumatic mechanism drives the left swinging part of the left knocking mechanism to periodically swing in a left preset area, and drives the right swinging part of the right knocking mechanism to periodically swing in a right preset area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211239482.7A CN115301650A (en) | 2022-10-11 | 2022-10-11 | Self-moving type carbon black pipeline dredging robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211239482.7A CN115301650A (en) | 2022-10-11 | 2022-10-11 | Self-moving type carbon black pipeline dredging robot and working method thereof |
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Application publication date: 20221108 |
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