Front-end crushing device of breaking robot
By designing a stretchable front-end crushing device for breaking robots, the problem of difficult to remove catalyst residues in chemical reactors is solved, and efficient removal and automatic removal of residues in the reactors is achieved, improving work efficiency and safety.
Patent Information
- Application Number
- CN202411689978.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-25
- Publication Date
- 2025-02-18
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
It is difficult to remove catalyst residues in chemical reactors, especially in harsh tank environments, and residue residues will affect subsequent work.
Design a robot front-end crushing device, adopts a stretchable mechanical structure, including electric lifting rods, gear systems, electric push rods and crushing heads, and combines lidar, gyroscope sensors and searchlights to achieve multiple positions of residues in the reactor and angle break, and automatic removal of residue through pumping and collection cylinder.
It effectively improves the efficiency of residue removal in the reactor, improves the shortcomings of traditional manual removal, improves personnel safety guarantees, and reduces the burden of subsequent cleaning.
Smart Images
Figure CN119455847A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of breaking robots, in particular to a front end crushing device of a breaking robot. Background Art
[0002] The working principle of a chemical reactor is to fully mix and contact the reactants in a relatively closed reactor body through a stirring device, and to cause a chemical reaction under appropriate temperature, pressure and other conditions. For example, in the field of petrochemicals, reactors are used in the refining process of crude oil, such as hydrocracking reactions. In a hydrocracking reactor, by adding hydrogen, under the action of high temperature, high pressure and catalysts, large molecular hydrocarbon compounds are cracked into small molecular hydrocarbons, thereby increasing the yield of light oil products such as gasoline and diesel.
[0003] In a chemical reactor, the problem of removing the catalyst is faced after each production cycle. However, the actual removal operation faces the following difficulties. First, the environment inside the tank is harsh, which is not conducive to manual work. Secondly, the residues after being broken by the breaking device will remain and accumulate inside the tube body. If they cannot be removed in time, it will have a certain impact on subsequent work. Therefore, in order to solve the above problems, it is necessary to invent a front-end crushing device for a breaking robot. Summary of the invention
[0004] The purpose of the present invention is to solve the above-mentioned problems and provide a device for breaking the front end of a robot.
[0005] The technical solution adopted by the present invention is as follows: a front-end crushing device of a breaking robot comprises an electric lifting rod, a No. 1 gear is rotatably installed at the bottom of the electric lifting rod, the bottom of the No. 1 gear is fixedly connected, a laser radar and a gyroscope sensor assembly are arranged on the upper part, side frames are fixedly installed around the row of pipes, a No. 1 electric push rod and a No. 2 electric push rod are hingedly installed on the outer end and the bottom of the side frame respectively, the extended end of the No. 1 electric push rod is hinged to the outer wall of the No. 2 electric push rod, the extended end of the No. 2 electric push rod is fixedly connected with a connecting plate, the bottom end of the connecting plate is rotatably installed with a gear rod, a No. 3 electric push rod is fixedly connected under the rotating rod of the gear rod, the extended end of the No. 3 electric push rod is fixedly connected with a seat plate, and a crushing head is rotatably installed on the top of the seat plate.
[0006] The outer side of the bottom of the No. 3 electric push rod is fixedly connected to a collecting cylinder through an L-shaped connecting rod, a pushing plate is rotatably installed on the inner bottom of the collecting cylinder, a suction nozzle is fixedly installed on the inner side of the bottom of the collecting cylinder, a slag suction connecting hole is opened at the connecting position between the inner bottom of the collecting cylinder and the suction nozzle, a bellows is fixedly connected to the inner side of the suction nozzle, a suction pump is fixedly installed on the bottom, the slag suction end of the pump is connected to the bellows, and the slag discharge end of the pump is fixedly connected to a discharge pipe.
[0007] In a preferred embodiment of the invention, the extended end at the bottom of the electric lifting rod is rotatably connected to the No. 1 gear through a bearing, the outer side of the No. 1 gear is meshed with the No. 2 gear, and the side wall of the extended end of the electric lifting rod is fixedly mounted with a No. 1 motor with a reducer, and the output shaft of the No. 1 motor is fixedly connected to the top of the No. 2 gear.
[0008] In a preferred embodiment of the invention, a track plate is fixedly connected to the lower portion of the inner wall of the connecting plate via a Z-shaped rod, and a rack meshing with a gear rod is slidably mounted on the top of the track plate.
[0009] In a preferred embodiment of the invention, a slide groove matched with the rack is provided on the top of the track plate, a screw rod is threadedly connected to the rack, and a No. 2 motor whose output shaft is fixed to the end of the screw rod is fixed inside the track plate.
[0010] In a preferred embodiment of the invention, a No. 3 motor is arranged on the top of the base plate, the output shaft of the No. 3 motor is fixedly connected to the bottom of the crushing head, and inclined crushing teeth are arranged on the periphery of the crushing head.
[0011] In a preferred embodiment of the invention, a notch is provided on the outside of the crushing head in the collecting cylinder, and airbag plates are fixedly mounted on both sides of the outer wall of the collecting cylinder on the crushing head.
[0012] In a preferred embodiment of the invention, the central bottom of the pushing plate is rotatably connected to the inner bottom of the collecting cylinder via a bearing, and a No. 4 motor having an output shaft fixedly connected to the pushing plate is fixedly installed at the bottom center of the collecting cylinder.
[0013] In a preferred embodiment of the invention, an observation plate is fixedly mounted on the outer side above the fixed end of the No. 3 electric push rod, and a distance sensor, a visual sensor and a searchlight are arranged on the outer side of the top end of the observation plate.
[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:
[0015] 1. In the present invention, through the above design, when using the device, first fix the top of the electric lifting rod of the device at the top of the reactor through the lifting equipment, and put it in from the top center of the reactor, then start the extension of the electric lifting rod to control the upper component to move to the appropriate position in the reactor, then start the contraction or extension of the No. 1 electric push rod to control the No. 2 electric push rods around to expand to a certain angle, and after the expansion is completed, start the No. 2 motor inside the track plate to drive the screw rod to rotate to control the rack to move, thereby engaging the gear rod to rotate and move at an angle, and the rotation of the gear rod will drive the No. 3 electric push rod under its rotating rod to rotate a certain angle, thereby controlling the deflection of the crushing head above the seat plate, and then cooperate with the searchlight illumination on the observation board and the visual sensor and distance sensor The monitoring data is used to control the extension and contraction of the No. 3 electric push rod to drive the crushing head to adjust the appropriate extension distance, so that the rotating crushing head is aligned with the residue settled on the bottom and inner wall of the reactor to break the residue at that position. Of course, since the outer periphery of the No. 1 gear on the top is engaged with the No. 2 gear, starting the No. 1 motor in conjunction with the reduction device can control the No. 2 gear to drive the rotation of the lower part of the No. 1 gear, thereby controlling the position of the catalyst residue crushing in the circumferential direction to achieve breaking work at multiple positions and angles. This design uses an extendable machine to clean the inside of the reactor, which effectively improves the shortcomings of the traditional manual breaking of residues in the reactor barrel, and has certain advantages in improving breaking efficiency and personnel safety.
[0016] 2. In the present invention, through the above design, when the crushing head breaks the residue in the reactor cylinder in different directions, the pump and the No. 4 motor under the collecting cylinder can be started at the same time to drive the pushing plate to rotate. Since the outer periphery of the crushing head is provided with inclined crushing teeth, the outer ends of the air bag plates on both sides of the crushing head are fitted on the crushing surface. When the crushing head rotates clockwise to crush the residue, most of the residue will move toward the direction of the pushing plate on the collecting cylinder. At this time, due to the work of the pump, the suction nozzle connected to the bellows will generate a strong adsorption force on the residue extraction connecting hole in the collecting cylinder. With the squeezing and pushing of the rotating pushing plate, the crushed powder residue will be pushed to the position of the suction nozzle for extraction, and discharged from the top to the outside of the reactor along the discharge pipe on the pump, so that the crushing head can timely remove and discharge part of the residue when performing the breaking work, thereby reducing the burden of cleaning the residue after the subsequent crushing of the residue inside the reactor and reducing the adverse effects of residue accumulation on the breaking work. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 A perspective view of the present invention;
[0018] Figure 2 For the present invention Figure 1 A magnified schematic diagram of the structure in the middle;
[0019] Figure 3 It is a schematic diagram of the relevant structure on the side frame of the present invention;
[0020] Figure 4 It is a schematic diagram of the structure of the second electric push rod and the crushing head when they are horizontally unfolded in the present invention;
[0021] Figure 5 It is a structural schematic diagram of the bottom of the collecting cylinder in the present invention;
[0022] Figure 6 It is a structural schematic diagram of the seat plate in the present invention;
[0023] Markings in the figure: 1-electric lifting rod, 2-gear No. 1, 3-gear No. 2, 4-motor No. 1, 5-side frame, 6-electric push rod No. 1, 7-electric push rod No. 2, 8-connecting plate, 9-gear rod, 10-track plate, 11-rack, 12-screw rod, 13-electric push rod No. 3, 14-seat plate, 15-motor No. 3, 16-crushing head, 17-collecting cylinder, 18-air bag plate, 19-push plate, 20-motor No. 4, 21-nozzle, 22-observation plate, 23-bellows, 24-pump, 25-discharge pipe. DETAILED DESCRIPTION
[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] The following will be combined Figure 1-Figure 6 A robot front end crushing device according to an embodiment of the present invention is described in detail.
[0026] Example:
[0027] Reference Figure 1 , 2, 3, 4, 5, 6, a front-end crushing device for breaking a robot, comprising an electric lifting rod 1, a No. 1 gear 2 is rotatably installed at the bottom of the electric lifting rod 1, the extended end of the bottom of the electric lifting rod 1 is rotatably connected to the No. 1 gear 2 through a bearing, a No. 2 gear 3 is meshed on the outer side of the No. 1 gear 2, a No. 1 motor 4 with a reducer is fixedly installed on the side wall of the extended end of the electric lifting rod 1, the output shaft of the No. 1 motor 4 is fixedly connected to the top of the No. 2 gear 3, the bottom of the No. 1 gear 2 is fixedly connected with 26, 26 is provided with a laser radar and a gyroscope sensor assembly, a side frame 5 is fixedly installed around the row pipe 25, the outer end and the bottom of the side frame 5 are respectively hingedly installed with a No. 1 electric push rod 6 and a No. 2 electric push rod 7, the extended end of the No. 1 electric push rod 6 is hinged to the outer wall of the No. 2 electric push rod 7, and the extended end of the No. 2 electric push rod 7 is fixed A connecting plate 8 is connected, a gear rod 9 is rotatably installed at the bottom end of the connecting plate 8, a track plate 10 is fixedly connected to the inner wall of the connecting plate 8 through a Z-shaped rod, a rack 11 meshing with the gear rod 9 is slidably installed on the top of the track plate 10, a slide groove adapted to the rack 11 is provided on the top of the track plate 10, a screw rod 12 is threadedly connected to the rack 11, a No. 2 motor whose output shaft is fixed to the end of the screw rod 12 is fixedly installed inside the track plate 10, a No. 3 electric push rod 13 is fixedly connected below the rotating rod of the gear rod 9, the extended end of the No. 3 electric push rod 13 is fixedly connected to a seat plate 14, a crushing head 16 is rotatably installed on the top of the seat plate 14, a No. 3 motor 15 is arranged on the top of the seat plate 14, the output shaft of the No. 3 motor 15 is fixedly connected to the bottom of the crushing head 16, and the outer periphery of the crushing head 16 is provided with inclined crushing teeth.
[0028] Through the above design, when using the device, first fix the top of the electric lifting rod 1 of the device at the top of the reactor through the lifting equipment, and put it in from the top center of the reactor, then start the extension of the electric lifting rod 1 to control the components on 26 to move to the appropriate position in the reactor, then start the contraction or extension of the No. 1 electric push rod 6 to control the No. 2 electric push rod 7 around 26 to expand to a certain angle, and after the expansion is completed, start the No. 2 motor inside the track plate 10 to drive the screw rod 12 to rotate to control the rack 11 to move, thereby engaging the gear rod 9 to rotate and move at an angle. The rotation of the gear rod 9 will drive the No. 3 electric push rod 13 under its rotating rod to rotate a certain angle, thereby controlling the deflection of the crushing head 16 above the seat plate 14, and then cooperate with the searchlight illumination on the observation plate 22 and the visual sensor and distance sensor The monitoring data is used to control the extension and contraction of the No. 3 electric push rod 13 to drive the crushing head 16 to adjust the appropriate extension distance, so that the rotating crushing head 16 is aimed at the residue settled on the bottom and inner wall of the reactor to break the residue at this position. Of course, since the outer periphery of the No. 1 gear 2 at the top of 26 is engaged with the No. 2 gear 3, starting the No. 1 motor 4 in conjunction with the reduction device can control the No. 2 gear 3 to drive the 26 below the No. 1 gear 2 to rotate, thereby controlling 26 to change the position of the catalyst residue crushing in the circumferential direction to achieve breaking work at multiple positions and angles. This design uses an extendable machine to carry out the cleaning work inside the reactor, which effectively improves the shortcomings of the traditional manual breaking of the residue in the reactor barrel, and has certain advantages in improving the breaking efficiency and personnel safety.
[0029] Reference Figure 1 , 2 , 3, 4, 5, 6, the outer side of the bottom of the No. 3 electric push rod 13 is fixedly connected with a collecting cylinder 17 through an L-shaped connecting rod. The collecting cylinder 17 is located on the outer side of the crushing head 16 and has a notch. The outer wall of the collecting cylinder 17 is located on both sides of the crushing head 16 and is fixedly installed with airbag plates 18. The inner bottom of the collecting cylinder 17 is rotatably installed with a pushing plate 19. The central bottom of the pushing plate 19 is rotatably connected to the inner bottom of the collecting cylinder 17 through a bearing. The center of the bottom of the collecting cylinder 17 is fixedly installed with a No. 4 motor 2 fixedly connected with the output shaft and the pushing plate 19 0, a suction nozzle 21 is fixedly installed on the inner side of the bottom of the collecting cylinder 17, and a slag suction connecting hole is provided at the connection position between the inner bottom of the collecting cylinder 17 and the suction nozzle 21, an observation plate 22 is fixedly installed on the outer side above the fixed end of the No. 3 electric push rod 13, and a distance sensor, a visual sensor and a searchlight are arranged on the outer side of the top of the observation plate 22, a bellows 23 is fixedly connected to the inner side of the suction nozzle 21, a suction pump 24 is fixedly installed on the bottom of 26, the slag suction end of the suction pump 24 is connected to the bellows 23, and the slag discharge end of the suction pump 24 is fixedly connected to a discharge pipe 25.
[0030] Through the above design, when the crushing head 16 is breaking the residue in the reactor cylinder at different directions, the pump 24 and the No. 4 motor 20 under the collecting cylinder 17 can be started at the same time to drive the push plate 19 to rotate. Since the outer periphery of the crushing head 16 is provided with inclined crushing teeth, the outer ends of the airbag plates 18 on both sides of the crushing head 16 are attached to the crushing surface. When the crushing head 16 rotates clockwise to crush the residue, most of the residue will move toward the direction of the push plate 19 on the collecting cylinder 17. At this time, due to the working of the pump 24, The suction nozzle 21 connected to the bellows 23 will generate a strong adsorption force on the slag extraction connecting hole in the collecting tube 17. The crushed powder slag will be pushed to the position of the suction nozzle 21 for extraction by the rotating pushing plate 19, and discharged from the top to the outside of the reactor along the discharge pipe 25 on the pump 24, so that part of the residue can be removed and discharged in time when the crushing head 16 is performing the crushing work, thereby reducing the burden of cleaning the residue after the subsequent crushing inside the reactor residue and reducing the adverse effects of residue accumulation on the crushing work.
[0031] The implementation principle of the embodiment of the robot front end crushing device of the present application is as follows:
[0032] When using the device, first of all, through the above design, when using the device, first fix the top of the electric lifting rod 1 of the device at the top of the reactor through the lifting equipment, and put it in from the top center of the reactor, then start the electric lifting rod 1 to extend to control the components on 26 to move to the appropriate position in the reactor, then start the No. 1 electric push rod 6 to contract or extend to control the No. 2 electric push rod 7 around 26 to expand to a certain angle, and after the expansion is completed, start the No. 2 motor inside the track plate 10 to drive the screw rod 12 to rotate to control the rack 11 to move, thereby engaging the gear rod 9 to rotate and move at an angle. The rotation of the gear rod 9 will drive the No. 3 electric push rod 13 under its rotating rod to rotate a certain angle, thereby controlling the deflection of the crushing head 16 above the seat plate 14, and then cooperate with the searchlight illumination on the observation plate 22 and the visual sensor and distance The monitoring data of the sensor is used to control the extension and contraction of the No. 3 electric push rod 13 to drive the crushing head 16 to adjust the appropriate extension distance, so that the rotating crushing head 16 is aimed at the residue settled on the bottom and inner wall of the reactor to break the residue at this position. Of course, since the outer periphery of the No. 1 gear 2 at the top of 26 is engaged with the No. 2 gear 3, starting the No. 1 motor 4 in conjunction with the reduction device can control the No. 2 gear 3 to drive the 26 below the No. 1 gear 2 to rotate, thereby controlling 26 to change the position of the catalyst residue crushing in the circumferential direction, so as to realize the breaking work at multiple positions and angles. This design uses an extendable machine to carry out the cleaning work inside the reactor, which effectively improves the shortcomings of the traditional reactor barrel residue breaking by manual labor, and has certain advantages in improving the breaking efficiency and personnel safety.
[0033] When the crushing head 16 is breaking the residue in the reactor cylinder at different positions, the pump 24 and the No. 4 motor 20 under the collecting cylinder 17 can be started at the same time to drive the push plate 19 to rotate. Since the outer periphery of the crushing head 16 is provided with inclined crushing teeth, the outer ends of the airbag plates 18 on both sides of the crushing head 16 are attached to the crushing surface. When the crushing head 16 rotates clockwise to crush the residue, most of the residue will move toward the push plate 19 on the collecting cylinder 17. At this time, due to the operation of the pump 24, The suction nozzle 21 connected to the bellows 23 generates a strong adsorption force on the slag extraction connecting hole in the collecting tube 17. The crushed powder slag is pushed to the position of the suction nozzle 21 for extraction by the rotating pushing plate 19, and is discharged from the top to the outside of the reactor along the discharge pipe 25 on the pump 24. In this way, part of the residue can be removed and discharged in time when the crushing head 16 is performing the crushing work, thereby reducing the burden of cleaning the residue after the subsequent crushing inside the reactor residue and reducing the adverse effects of residue accumulation on the crushing work.
[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0035] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A robot front end crushing device, comprising an electric lifting rod (1), characterized in that: A No. 1 gear (2) is rotatably mounted at the bottom of the electric lifting rod (1), and a (26) is fixedly connected to the bottom of the No. 1 gear (2), and a laser radar and a gyroscope sensor assembly are arranged on the (26). A side frame (5) is fixedly mounted around the row of pipes (25), and a No. 1 electric push rod (6) and a No. 2 electric push rod (7) are hingedly mounted on the outer end and the bottom of the side frame (5), respectively. The extended end of the No. 1 electric push rod (6) is hinged to the outer wall of the No. 2 electric push rod (7), and the extended end of the No. 2 electric push rod (7) is fixedly connected to a connecting plate (8), and a gear rod (9) is rotatably mounted on the bottom end of the connecting plate (8), and a No. 3 electric push rod (13) is fixedly connected below the rotating rod of the gear rod (9), and the extended end of the No. 3 electric push rod (13) is fixedly connected to a seat plate (14), and a crushing head (16) is rotatably mounted on the top of the seat plate (14); The outer side of the bottom of the No. 3 electric push rod (13) is fixedly connected to a collecting cylinder (17) via an L-shaped connecting rod, a pushing plate (19) is rotatably mounted on the inner bottom of the collecting cylinder (17), a suction nozzle (21) is fixedly mounted on the inner side of the bottom of the collecting cylinder (17), a slag suction connecting hole is provided at the connection position between the inner bottom of the collecting cylinder (17) and the suction nozzle (21), a bellows (23) is fixedly connected to the inner side of the suction nozzle (21), a suction pump (24) is fixedly mounted on the bottom of the (26), a slag suction end of the suction pump (24) is connected to the bellows (23), and a slag discharge end of the suction pump (24) is fixedly connected to a discharge pipe (25).
2. A robot front end crushing device as claimed in claim 1, characterized in that: The extended end at the bottom of the electric lifting rod (1) is rotatably connected to the No. 1 gear (2) via a bearing, the outer side of the No. 1 gear (2) is meshed with the No. 2 gear (3), and the side wall of the extended end of the electric lifting rod (1) is fixedly mounted with a No. 1 motor (4) with a reducer, and the output shaft of the No. 1 motor (4) is fixedly connected to the top of the No. 2 gear (3).
3. A robot front end crushing device as claimed in claim 1, characterized in that: A track plate (10) is fixedly connected to the lower side of the inner wall of the connecting plate (8) via a Z-shaped rod, and a rack (11) meshing with the gear rod (9) is slidably mounted on the top of the track plate (10).
4. A robot front end crushing device as claimed in claim 3, characterized in that: A slide groove matched with the rack (11) is provided on the top of the track plate (10), a screw rod (12) is threadedly connected to the rack (11), and a second motor whose output shaft is fixed to the end of the screw rod (12) is fixedly installed inside the track plate (10).
5. A robot front end crushing device as claimed in claim 1, characterized in that: A third motor (15) is arranged on the top of the seat plate (14), and an output shaft of the third motor (15) is fixedly connected to the bottom of a crushing head (16), and inclined crushing teeth are arranged on the outer periphery of the crushing head (16).
6. A robot front end crushing device as claimed in claim 1, characterized in that: The collecting tube (17) is provided with a notch on the outside of the crushing head (16), and airbag plates (18) are fixedly mounted on the outer wall of the collecting tube (17) on both sides of the crushing head (16).
7. A robot front end crushing device as claimed in claim 1, characterized in that: The central bottom of the push plate (19) is rotatably connected to the inner bottom of the collecting tube (17) via a bearing, and a No. 4 motor (20) whose output shaft is fixedly connected to the push plate (19) is fixedly installed at the bottom center of the collecting tube (17).
8. A robot front end crushing device as claimed in claim 1, characterized in that: An observation plate (22) is fixedly mounted on the outer side above the fixed end of the third electric push rod (13), and a distance sensor, a visual sensor and a searchlight are arranged on the outer side of the top end of the observation plate (22).