Milling and digging type crushing mechanical arm in tank body

Abstract

The invention discloses a milling and digging type crushing mechanical arm in a tank body, and relates to the field of asphalt recycling, the milling and digging type crushing mechanical arm comprises a storage tank and a crushing mechanism used for conducting mechanical treatment on coke attached to the inner wall of the storage tank, and the crushing mechanism comprises a mechanical arm body and a milling and digging head rotationally arranged on the mechanical arm body; the adjusting mechanism is used for adjusting the position of the milling and digging head; and the power assembly is used for driving the milling and digging head to rotate. According to the milling and digging type crushing mechanical arm in the tank body, the milling and digging head and the adjusting mechanism are arranged, when the milling and digging head is placed in the storage tank, the mechanical arm body and an opening of the storage tank are controlled to be coaxially arranged through the adjusting mechanism, so that the mechanical arm body can be inserted into the storage tank, then the milling and digging head is controlled to rotate through the power assembly, and the milling and digging head is driven to rotate. And the mechanical arm body is controlled to swing and extend through the adjusting mechanism, so that the rotating milling and digging head can crush the coke, and the storage tanks of different types and different sizes can be cleaned through the mode.

Description

Technical Field

[0001] The invention relates to the field of asphalt recovery, and in particular to a milling and digging type crushing mechanical arm in a tank body. Background Art

[0002] As is known, asphalt is a viscous, black substance, mainly obtained from petroleum or oil sands processing, and is commonly used in road construction and maintenance, roof waterproofing and anti-corrosion materials. Its characteristics include high temperature resistance, good low temperature toughness and excellent waterproofness, so it has been widely used in construction and civil engineering. When asphalt is produced, it will be stored in a storage tank. Over time, it will cause the inner wall of the storage tank to coke, and then a hard layer will be attached to the inner wall of the storage tank. Removing the hard layer has two benefits. First, it increases the internal space of the storage tank. Second, the hard layer still has industrial value and can be recycled.

[0003] For example, the Chinese patent document with the authorization announcement number CN215400713U, the announcement date 2022-01-04, and the name "A cleaning device for asphalt storage tanks" includes a circular tank body, the device includes a main control microcontroller, a heating mechanism, a cleaning mechanism and a power generation component, the heating mechanism includes a temperature sensor and a heater electrically connected to the main control microcontroller respectively, the heater is arranged on the inner wall of the circular tank body, the cleaning mechanism includes an electric telescopic rod and a scraper, the fixed end of the electric telescopic rod is arranged on the tank cover of the circular tank body, the mobile end is connected to the scraper, the electric telescopic rod is electrically connected to the main control microcontroller, and the power generation component includes a battery electrically connected to the solar power generation panel, and the battery is electrically connected to the main control microcontroller. The asphalt tank can be cleaned efficiently by this device, saving manual labor.

[0004] The shortcomings of the above-mentioned prior art are that the coke on the inner wall of the storage tank is scraped off by a scraper. Since the scraper is in a circular ring shape and its size cannot be adjusted, when the opening of the storage tank is small, the scraper cannot be placed inside the storage tank. Moreover, the size of the scraper is fixed and cannot adapt to storage tanks of different sizes, which limits its scope of application. Summary of the invention

[0005] The purpose of the present invention is to provide a tank body milling and digging type crushing mechanical arm to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A milling and digging type crushing mechanical arm in a tank body, comprising a storage tank and a crushing mechanism for mechanically treating coke attached to the inner wall of the storage tank, wherein the crushing mechanism comprises a mechanical arm body and a milling and digging head rotatably arranged on the mechanical arm body;

[0008] It also includes an adjusting mechanism for adjusting the position of the milling head and a power component for driving the milling head to rotate.

[0009] The above-mentioned milling and digging type crushing mechanical arm in the tank, the adjustment mechanism includes a first adjustment member for adjusting the horizontal angle of the milling head, a second adjustment member for adjusting the vertical height of the milling head, and a third adjustment member for adjusting the length and vertical angle of the mechanical arm body itself.

[0010] In the above-mentioned in-tank milling and digging type crushing mechanical arm, the first adjusting member includes a rotating seat and a first motor for driving the rotating seat to rotate.

[0011] In the above-mentioned milling and digging type crushing mechanical arm in the tank, the second adjusting member includes a tooth plate slidably arranged on the rotating seat, a second motor is fixedly connected to the rotating seat, a gear is fixedly connected to the second motor, and the gear is meshed with the tooth plate.

[0012] In the above-mentioned milling and digging type crushing mechanical arm in a tank body, the third adjusting member comprises an oil cylinder rotatably arranged on the tooth plate, and the mechanical arm body comprises a shell and a sliding rod slidably arranged inside the shell;

[0013] The oil cylinder has a first state for driving the mechanical arm body to rotate and a second state for driving the slide bar to slide inside the housing.

[0014] The above-mentioned milling and digging type crushing mechanical arm in the tank body, the shell body is fixedly connected with a mounting seat, the mounting seat is slidably provided with a first latch, and the sliding rod is provided with a first socket adapted to the first latch;

[0015] It also includes a first driving member for driving the first pin to be plugged into or away from the first socket.

[0016] In the above-mentioned milling and digging type crushing mechanical arm in the tank, a second latch is slidably provided on the mounting seat, and a second plug hole matching the second latch is provided on the tooth plate;

[0017] It also includes a second driving member for driving the second pin to be plugged into or away from the second socket.

[0018] In the above-mentioned in-tank milling and digging crushing mechanical arm, the first driving member includes an abutment plate arranged on the tooth plate, an abutment portion is arranged on the first latch, and the abutment plate is located on the movement stroke of the abutment portion;

[0019] A first spring is arranged between the first latch and the mounting seat.

[0020] In the above-mentioned in-tank milling and digging crushing mechanical arm, the second driving member includes an abutment block fixedly connected to the first latch, and the second latch is provided with a transmission block, and the transmission block is located on the movement stroke of the abutment block;

[0021] A second spring is arranged between the second latch and the mounting seat.

[0022] In the above-mentioned in-tank milling and digging crushing mechanical arm, the sliding rod is provided with an unlocking member for moving the abutment plate away from the first latch.

[0023] In the above technical scheme, the present invention provides a milling and digging type crushing robot arm in a tank, which is provided with a milling and digging head and an adjusting mechanism. When the milling and digging head is placed inside the storage tank, the adjusting mechanism is used to control the coaxial arrangement of the robot arm body and the opening of the storage tank so that the robot arm body can be inserted into the storage tank. Then, the rotation of the milling and digging head is controlled by the power component, and the swing and extension of the robot arm body are controlled by the adjusting mechanism, so that the rotating milling and digging head can contact the coke and crush the coke. In this way, storage tanks of different types and sizes can be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A schematic diagram of the working process when the robot arm body is in the shortest state is provided for an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the working process when the robot arm body is in the longest state is provided for an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of the mechanical arm body provided by an embodiment of the present invention when it is in a vertical state;

[0028] Figure 4 A schematic diagram of the structure of the mechanical arm body provided by an embodiment of the present invention when it is in a horizontal state;

[0029] Figure 5 A partial cross-sectional structural schematic diagram provided for another embodiment of the present invention;

[0030] Figure 6 A schematic diagram of the structure of a first latch and a second latch provided in another embodiment of the present invention;

[0031] Figure 7A schematic diagram of the structure of the first latch and the second latch from another perspective provided by another embodiment of the present invention;

[0032] Figure 8 A schematic diagram of a connection structure between a first card block and a second card block provided in yet another embodiment of the present invention;

[0033] Fig. 9 for Figure 5 A schematic diagram of the enlarged local structure in the middle.

[0034] Description of reference numerals:

[0035] 1. Storage tank; 2. Robot arm body; 201. Shell; 202. Slide rod; 3. Milling head; 4. Rotating seat; 5. First motor; 6. Tooth plate; 7. Gear; 8. Cylinder; 9. Connector; 10. Mounting seat; 11. First latch; 12. First socket; 13. Second latch; 14. Second socket; 15. Fixed shaft; 16. Abutment plate; 17. Abutment part; 18. First spring; 19. Abutment block; 20. Transmission block; 21. Second spring; 22. Slide groove; 23. Unlocking rod; 24. Third spring; 25. Reset channel; 26. Lap plate; 27. Guide rail; 28. First clamping block; 29. ​​Second clamping block; 30. Connecting rod; 31. Fourth spring. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] Reference Figure 1-9 An embodiment of the present invention provides a milling and digging crushing mechanical arm in a tank body, comprising a storage tank 1 and a crushing mechanism for mechanically treating coke attached to the inner wall of the storage tank 1, wherein the crushing mechanism comprises a mechanical arm body 2 and a milling and digging head 3 rotatably arranged on the mechanical arm body 2; it also comprises an adjusting mechanism for adjusting the position of the milling and digging head 3 and a power component for driving the milling and digging head 3 to rotate.

[0039] Specifically, the storage tank 1 can be a wide-mouthed (i.e., the radial dimension of the opening of the storage tank 1 is greater than or equal to the radial dimension of its interior) or a closed-mouthed (i.e., the radial dimension of the opening of the storage tank 1 is smaller than the radial dimension of its interior, and the present application is directed to a closed-mouthed storage tank 1, which is larger in size) cylindrical structure. Both have their advantages and disadvantages. When the storage tank 1 storing asphalt is used for a long time, a hard coking layer will adhere to its inner wall, and the coking is usually cleaned by a moving scraper, wherein the scraper is set in a circular ring shape and is in the same position as the storage tank 1. The scraper is arranged along the axis, and the scraper is set to the same size as the inner wall of the storage tank 1. When cleaning, the scraper is fitted with the inner wall of the storage tank 1, and the scraper is controlled by a power source to move along the axial direction of the storage tank 1, so that the coke can be scraped off. However, this method cannot adapt to storage tanks 1 of different sizes, so it is relatively limited when used. This is a prior art and will not be repeated (for the specific cleaning process, please refer to the patent document with the authorization announcement number CN215400713U). One of the core innovations of the embodiment of the present invention is that A milling head 3 (a structure that provides crushing force by rotating a tool) and an adjusting mechanism for adjusting the position of the milling head 3 are provided on the storage tank 1. The adjusting mechanism is detachably installed on the storage tank 1, that is, when the storage tank 1 needs to be cleaned, the adjusting mechanism and the milling head 3 are installed on the storage tank 1. After cleaning, the adjusting mechanism and the milling head 3 and other components can be removed. The adjusting mechanism can be an integrated structure with vertical adjustment, horizontal adjustment and angle adjustment, and the power component can be a structure such as a hydraulic motor for providing rotational force. The purpose of such a setting is that when the milling head 3 is placed inside the storage tank 1, the mechanical arm body 2 is controlled to be coaxial with the opening of the storage tank 1 through the adjusting mechanism, so that the mechanical arm body 2 can be inserted into the storage tank 1, and then the milling head 3 is controlled to rotate through the power component, and the mechanical arm body 2 is controlled to swing and extend through the adjusting mechanism, so that the rotating milling head 3 can contact the coke and crush the coke. In this way, storage tanks 1 of different types and sizes can be cleaned.

[0040] Furthermore, the adjustment mechanism includes a first adjustment member for adjusting the horizontal angle of the milling head 3, a second adjustment member for adjusting the vertical height of the milling head 3, and a third adjustment member for adjusting the length and vertical angle of the robot body 2. Specifically, the first adjusting member and the second adjusting member can both be structures such as motors for providing rotational force, and the third adjusting member can be a structure in which two reciprocating drive components such as cylinders cooperate (one for adjusting the angle of the robot arm body 2 and the other for adjusting the length of the robot arm body 2 itself). The purpose of such a setting is that when the milling head 3 needs to be delivered to the interior of the storage tank 1, the robot arm body 2 is adjusted to a position coaxial with the storage tank 1 through the third adjusting member, and the robot arm body 2 is vertically inserted into the interior of the storage tank 1, and the robot arm body 2 is controlled to rotate vertically 90 degrees through the third adjusting member, so that the milling head 3 is close to the inner wall of the storage tank 1, and then the vertical height of the milling head 3 is adjusted through the second adjusting member, and the horizontal angle of the milling head 3 is adjusted in coordination with the first adjusting member, so that the inner wall of the storage tank 1 can be fully cleaned, and when the radial size of the storage tank 1 changes, the length of the robot arm body 2 is adjusted through the third adjusting member for adaptation.

[0041] Preferably, the first adjusting member includes a rotating seat 4 and a first motor 5 for driving the rotating seat 4 to rotate. Specifically, the rotating seat 4 includes a base and a transmission disc rotatably arranged on the base, the base is installed at the tank mouth position of the storage tank 1 through a detachable connection structure such as bolts, the milling head 3 is connected to the transmission disc through a transmission component, and the first motor 5 is arranged on the base, and its output end is connected to the transmission disc through a transmission component such as a belt. The effect of such arrangement is that the transmission disc is driven to rotate horizontally by the first motor 5, and because the milling head 3 is connected to the transmission disc, the milling head 3 can be driven to rotate horizontally synchronously to adjust the horizontal angle of the milling head 3.

[0042] Preferably, the second adjusting member includes a toothed plate 6 slidably arranged on the rotating seat 4 (and the two cannot rotate relative to each other), a second motor (not shown) is fixedly connected to the rotating seat 4, a gear 7 is fixedly connected to the second motor, and the gear 7 is meshed with the toothed plate 6. Specifically, a through hole is provided on the rotating seat 4, the toothed plate 6 is vertically arranged and slidably connected to the through hole, the mechanical arm body 2 is connected to the toothed plate 6, and the second motor is fixedly connected to the transmission disk. The purpose of such a setting is that the second motor provides power, so that the gear 7 at its output end can be driven to rotate, and because the gear 7 is meshed with the toothed plate 6, the toothed plate 6 can be driven to move vertically, and then the mechanical arm body 2 and the milling head 3 can be driven to move vertically to adjust the vertical position of the milling head 3.

[0043] It should be noted that the interior of the storage tank 1 is a high-temperature and high-humidity working environment. In this environment, the driving equipment inside it is easily damaged. Therefore, when cleaning the internal space of the storage tank 1, it is very necessary to reduce the number of driving devices inside the storage tank 1. Preferably, the third adjusting member includes an oil cylinder 8 rotatably arranged on the tooth plate 6, and the mechanical arm body 2 includes a shell 201 and a slide rod 202 slidably arranged inside the shell 201; the oil cylinder 8 has a first state for driving the mechanical arm body 2 to rotate and a second state for driving the slide rod 202 to slide inside the shell 201. Specifically, the milling head 3 is rotatably arranged at the end of the slide bar 202, a fixed shaft 15 is arranged on the tooth plate 6, the mechanical arm body 2 is rotatably connected to the fixed shaft 15, one end of the oil cylinder 8 is rotatably connected to the tooth plate 6, and the other end is rotatably connected to the slide bar 202, that is, a connecting piece 9 is arranged on the slide bar 202, and the output end of the oil cylinder 8 is rotatably connected to the connecting piece 9. When the oil cylinder 8 is in the first state, the position of the slide bar 202 can be locked by structures such as a pin shaft, that is, at this time the slide bar 202 cannot slide in the shell 201. When the oil cylinder 8 is in the second state, the position of the slide bar 202 is unlocked, and at this time the shell 201 and the fixed shaft 15 can be locked by structures such as a pin shaft. The purpose of such a setting is that when the vertical angle of the mechanical arm body 2 needs to be adjusted , put the cylinder 8 in the first state, at this time, the output end of the cylinder 8 can be extended and retracted to adjust the vertical angle of the robot arm body 2. When the angle of the robot arm body 2 is adjusted, switch the cylinder 8 from the first state to the second state. At this time, the output end of the cylinder 8 can only drive the slide bar 202 to slide inside the shell 201 to adjust the length of the robot arm body 2. In this way, only a single cylinder 8 is needed to adjust the vertical angle of the robot arm body 2 and the length of the robot arm body 2 (adjusting the length of the robot arm body 2 is also to adjust the horizontal position of the milling head 3). When the storage tank 1 is cleaned, switch the cylinder 8 from the second state to the first state. At this time, the vertical angle of the robot arm body 2 can be adjusted by extending and retracting the cylinder 8 to facilitate its removal from the storage tank 1.

[0044] As another embodiment of the present invention, preferably, a mounting seat 10 is fixedly connected inside the housing 201, a first latch 11 is slidably provided on the mounting seat 10, a first socket 12 adapted to the first latch 11 is provided on the slide bar 202, and a first driving member for driving the first latch 11 to be plugged into or away from the first socket 12 is also included. Specifically, the first driving member can be a reciprocating driving component such as an electric push rod, and the first socket 12 is arranged along the thickness direction of the slide bar 202. The effect of such a setting is that when the oil cylinder 8 is in the first state, the first latch 11 is plugged into the first socket 12 to connect the housing 201 and the slide bar 202 into a whole. At this time, the length of the mechanical arm body 2 cannot be adjusted, and the output end of the oil cylinder 8 is controlled to be telescopic. At this time, the kinetic energy of the oil cylinder 8 can only drive the mechanical arm body 2 to rotate around the fixed axis 15 to adjust the vertical angle of the mechanical arm body 2.

[0045] Furthermore, a second latch 13 is slidably provided on the mounting seat 10, and a second socket 14 adapted to the second latch 13 is provided on the tooth plate 6; a second driving member for driving the second latch 13 to be plugged into or away from the second socket 14 is also included. Specifically, the second socket 14 is opened on the outer peripheral surface of the fixed shaft 15 and is arranged along the axial direction of the fixed shaft 15. The second pin 13 is slidably arranged on the side of the mounting seat 10, and a limiting structure is arranged between the second pin 13 and the mounting seat 10 to prevent the two from rotating relative to each other. The second driving member can also be an existing reciprocating driving component such as an electric push rod. The purpose of such a setting is that when the cylinder 8 is in the second state, the second pin 13 is plugged into the second socket 14 (at the same time, the first pin 11 is away from the second socket 14, that is, at this time the slide bar 202 can slide relative to the shell 201), so that the angle of the robot arm body 2 can be fixed. At this time, the vertical angle of the robot arm body 2 cannot be adjusted, and the output end of the control cylinder 8 is extended and retracted. At this time, the kinetic energy of the cylinder 8 can only drive the slide bar 202 to slide inside the shell 201 to achieve the purpose of adjusting the length of the robot arm body 2.

[0046] It should be noted that the robot arm body 2 has a vertical state for inserting into the interior of the storage tank 1 and a horizontal state for crushing coke, and it usually only switches between these two states.

[0047] As an alternative solution for the above-mentioned electric push rod to drive the first pin 11 to be plugged into or away from the first socket 12, preferably, the first driving member includes an abutment plate 16 arranged on the tooth plate 6, and an abutment portion 17 is arranged on the first pin 11, and the abutment plate 16 is located on the movement stroke of the abutment portion 17; a first spring 18 is arranged between the first pin 11 and the mounting seat 10. Specifically, the abutment plate 16 is fixedly connected to the side of the tooth plate 6, the first latch 11 penetrates to the outside of the shell 201, and an abutment hole is opened inside the shell. One of the inner walls of the abutment hole is a wedge-shaped surface, and the end of the abutment plate 16 is located on the movement stroke of the wedge-shaped surface. One end of the first spring 18 is fixedly connected to the mounting seat 10, and the other end is fixedly connected to the first latch 11. The effect of such a setting is that when the robot arm body 2 is in a vertical state, the first latch 11 is plugged into the first plug hole 12 under the action of the elastic force of the first spring 18, and when the robot arm body 2 is switched from a vertical state to a horizontal state, the robot arm body 2 will rotate around the fixed axis 15 During this process, the wedge-shaped surface of the inner wall of the abutment hole will abut against the end of the abutment plate 16, thereby driving the first latch 11 to move in a direction away from the first insertion hole 12, and accumulating force on the first spring 18 to passively release the locking effect of the shell 201 and the slide bar 202. When the storage tank 1 is cleaned, the first insertion hole 12 is moved to a position corresponding to the first latch 11 by controlling the position of the slide bar 202. At this time, the abutment plate 16 is controlled to move away from the abutment hole. At this time, the elastic force of the first spring 18 is released, so that the first latch 11 is plugged into the first insertion hole 12 again, so that the shell 201 and the slide bar 202 are locked again.

[0048] As an alternative solution for the above-mentioned electric push rod to drive the second pin 13 to be plugged into or away from the second socket 14, preferably, the second driving member includes an abutment block 19 fixedly connected to the first pin 11, and a transmission block 20 is provided on the second pin 13, and the transmission block 20 is located on the movement stroke of the abutment block 19; a second spring 21 is provided between the second pin 13 and the mounting seat 10. Specifically, the abutment block 19 is fixedly connected to the side surface of the first latch 11, and a wedge-shaped surface is provided on the transmission block 20, and the wedge-shaped surface is located on the movement stroke of the abutment block 19. A slide groove 22 is provided on the mounting seat 10, and the second latch 13 is slidably connected to the slide groove 22. One end of the second spring 21 is fixedly connected to the second latch 13, and the other end is fixedly connected to the side wall of the slide groove 22. The second latch 13 is preferably an elastic telescopic rod, that is, its end can be retracted. The effect of such a setting is that, when the first latch 11 is pulled out of the first socket 12, the abutment block 19 will be driven to move synchronously, so that the abutment block 19 will abut against the wedge-shaped surface of the transmission block 20, so that the transmission block 20 and the second latch 13 move toward the direction of the second socket 14 (when the second latch 13 does not coincide with the second socket 14, the second latch 13 will first abut against the outer peripheral surface of the fixed shaft 15, and under the action of the extrusion force, it will shrink. When the second latch 13 and the first When the two sockets 14 overlap, their elasticity is released to allow the second pin 13 to be inserted into the second socket 14), and the second pin 13 is plugged into the second socket 14, and the second spring 21 is charged, so that the plugging effect of the first pin 11 and the first socket 12 is released while the second pin 13 is passively plugged into the second socket 14. When the inner wall of the storage tank 1 is cleaned, the abutment plate 16 is controlled to move away from the abutment hole. At this time, the elastic force of the first spring 18 is released to drive the first pin 11 to move toward the direction of the first socket 12, and synchronously drive the abutment block 19 and the transmission block 20 away. At this time, the elastic force of the second spring 21 is released to drive the second pin 13 to be passively withdrawn from the second socket 14 (the second pin 13 will stretch under the action of its own elasticity to automatically reset), so that the second pin 13 is passively driven to be withdrawn from the second socket 14 during the plugging process of the first pin 11 and the first socket 12.

[0049] It should be noted that a limiting structure is provided between the slide bar 202 and the shell 201, so that during the process of switching the robot arm body 2 from the vertical state to the horizontal state, the slide bar 202 cannot continue to slide into the shell 201. In this way, even after the first pin 11 is preferentially pulled out from the first socket 12, the contraction of the cylinder 8 still cannot move the slide bar 202, so that the kinetic energy of the cylinder 8 can only make the robot arm body 2 rotate, thereby stably switching the robot arm body 2 from the vertical state to the horizontal state.

[0050] Furthermore, an unlocking member is provided on the sliding rod 202 for moving the abutment plate 16 away from the first latch 11; the unlocking member includes an unlocking rod 23 fixed to the sliding rod 202, the abutment plate 16 is slidably provided on the tooth plate 6, and a third spring 24 is provided between the abutment plate 16 and the tooth plate 6, a reset channel 25 is opened on the abutment plate 16, and a lap plate 26 is elastically provided on the side wall of the reset channel 25, and the lap plate 26 is located on the movement stroke of the unlocking rod 23.Specifically, the unlocking rod 23 is approximately Z-shaped, one end of which is fixed to the sliding rod 202, and the other end extends to the outside of the shell 201. The right end of the end located outside the shell 201 is a cylindrical rod, and an inclined surface is provided on the abutment plate 16. The reset channel 25 is L-shaped, one end of which is provided on the inclined surface, and the lap plate 26 is rotatably provided on the other end of the reset channel 25, and the lap plate 26 is arranged coplanar with the inclined surface. A torsion spring (not shown) is provided between the lap plate 26 and the reset channel 25. The elastic force of the torsion spring makes the lap plate 26 have a tendency to rotate toward the reset channel 25. A guide rail 27 is provided on the tooth plate 6, and the guide rail 27 is arranged along the width direction of the first tooth plate 6. The abutment plate 16 can slide along the guide rail 27, and the first tooth plate 6 can slide along the guide rail 27. One end of the three springs 24 is fixedly connected to the side wall of the guide rail 27, and the other end is fixedly connected to the abutment plate 16, and a notch is provided on the side of the abutment hole. The purpose of such a setting is that in the process of the robot arm body 2 switching from the vertical state to the horizontal state, it will drive the unlocking rod 23 to move synchronously, so that the end of the unlocking rod 23 is inserted into the reset channel 25 from the bottom of the reset channel 25 along the arc line. When the robot arm body 2 is in the horizontal state, the cylindrical end of the unlocking rod 23 is located at the L-shaped corner of the reset channel 25. After the switching is completed, the robot arm body 2 is controlled to extend. At this time, the sliding rod 202 will drive the unlocking rod 23 to slide synchronously toward the outside of the shell 201, during which the unlocking rod 23 will abut against the lap plate 26. The unlocking rod 23 is connected to the lap plate 26, so that the lap plate 26 rotates and accumulates force on the torsion spring to achieve avoidance. At this time, the robot arm body 2 can be freely extended and retracted. When the storage tank 1 is cleaned, the slide rod 202 is controlled by the oil cylinder 8 to slide toward the inside of the shell 201. In this process, the unlocking rod 23 will abut against the lap plate 26. Since the lap plate 26 abuts against the side wall of the reset channel 25 at this time, it cannot continue to rotate in the direction of the reset channel 25, so that the unlocking rod 23 slides along the inclined surface on the abutment plate 16, so the abutment plate 16 will slide along the guide rail 27 and accumulate force on the third spring 24. Since the guide rail 27 is arranged along the width of the first tooth plate 6, it will drive the abutment plate 16 to move out of the position of the abutment hole gap and The third spring 24 accumulates force, and the limiting effect of the abutment plate 16 on the first latch 11 disappears. The elastic force of the first spring 18 is released, thereby driving the first latch 11 to move toward the first socket 12 (at this time, since the first socket 12 and the first latch 11 overlap, the first latch 11 may not have been inserted into the first socket 12). At this time, the slide bar 202 continues to slide until it slides to the end of the reset channel 25 (at this time, the first latch 11 overlaps with the first socket 12, so that the first latch 11 is inserted into the first socket 12, and at the same time, the second latch 13 will be completely pulled out of the second socket 14). At this time, the elastic force of the third spring 24 is released to drive the abutment plate 16 to reset passively.

[0051] As another embodiment of the present invention, a first clamping block 28 is elastically arranged on the abutting plate 16, a second clamping block 29 is arranged on the transmission block 20, and the first clamping block 28 is located on the movement stroke of the second clamping block 29. Specifically, a connecting rod 30 is arranged on the first clamping block 28, and the cross section of the connecting rod 30 is T-shaped. The lower surface of the horizontal section of the T-shape abuts against the upper surface of the abutting plate 16, and the vertical section of the T-shape is slidably connected with the abutting plate 16. The elastic arrangement means that a fourth spring 31 is arranged between the second clamping block 29 and the abutting plate 16. The first clamping block 28 is generally in a U-shaped, and its internal space is a clamping groove adapted to the second clamping block 29. The second clamping block 29 is fixedly connected to the side wall of the transmission block 20. An arc surface is arranged at one end of the first clamping block 28, and the arc surface is located on the movement stroke of the end of the second clamping block 29. An avoidance groove (not shown) for the second clamping block 29 to slide is formed on the housing 201. The function of such an arrangement is that during the rotation of the manipulator body 2, the second clamping block 29 will be driven to rotate synchronously. During the rotation, the end of the second clamping block 29 will abut against the arc surface of the first clamping block 28, thereby driving the first clamping block 28 and the connecting rod 30 to move upward and store energy in the fourth spring 31. When the second clamping block 29 abuts against the arc surface completely, the elastic force of the fourth spring 31 is released, so that the clamping groove clamps the second clamping block 29. Through the clamping action between the second clamping block 29 and the clamping groove, the toothed plate 6 is connected to the manipulator body 2, which can provide a function similar to a reinforcing rod between the manipulator body 2 and the toothed plate 6 to improve the stability during the operation of the milling and digging head 3. When the inner wall of the storage tank 1 is cleaned up, during the process of the unlocking rod 23 driving the abutting plate 16 away from the abutting hole, the second clamping block 29 will also be drawn out from the side of the clamping groove, so as to drive the second clamping block 29 and the clamping groove to be unlocked passively.

[0052] To sum up, during the rotation of the manipulator body 2, there are the following strokes: firstly, the first pin 11 is inserted into the first jack 12, so that the output end of the oil cylinder 8 contracts to drive the rotation of the manipulator body 2; secondly, the first pin 11 is unlocked from the first jack 12, and at the same time, the second pin 13 is inserted into the second jack 14, so that the output end of the oil cylinder 8 expands and contracts to drive the telescopic movement of the manipulator body 2; thirdly, during the rotation of the manipulator body 2, the second clamping block 29 is driven to be clamped with the clamping groove to improve the stability of the milling and digging head 3; fourthly, after the manipulator body 2 is shortened, the unlocking rod 23 drives the abutting plate 16 to be unlocked passively from the abutting hole, and during the unlocking process of the abutting plate 16 from the abutting hole, the second clamping block 29 and the clamping groove are unlocked synchronously; fifthly, when the first pin 11 is inserted into the first jack 12 and unlocked through the second pin 13 and the second jack 14, at this time, the output end of the oil cylinder 8 extends to drive the manipulator body 2 to rotate in the reverse direction.

[0053] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A milling and digging crushing mechanical arm in a tank body, comprising a storage tank and a crushing mechanism for mechanically treating coke attached to the inner wall of the storage tank, characterized in that: The crushing mechanism includes a mechanical arm body and a milling head rotatably arranged on the mechanical arm body; It also includes an adjusting mechanism for adjusting the position of the milling head and a power component for driving the milling head to rotate.

2. The milling and digging type crushing mechanical arm in a tank according to claim 1, characterized in that: The adjustment mechanism includes a first adjustment member for adjusting the horizontal angle of the milling head, a second adjustment member for adjusting the vertical height of the milling head, and a third adjustment member for adjusting the length and vertical angle of the robot arm body.

3. The milling and digging type crushing mechanical arm in a tank according to claim 2, characterized in that: The first adjusting member includes a rotating seat and a first motor for driving the rotating seat to rotate.

4. The milling and digging type crushing mechanical arm in a tank according to claim 3 is characterized in that: The second adjusting member comprises a toothed plate slidably arranged on the rotating seat, a second motor is fixedly connected to the rotating seat, a gear is fixedly connected to the second motor, and the gear is meshed with the toothed plate.

5. The milling and digging type crushing mechanical arm in a tank according to claim 4, characterized in that: The third adjusting member includes an oil cylinder rotatably arranged on the tooth plate, and the mechanical arm body includes a shell and a sliding rod slidably arranged inside the shell; The oil cylinder has a first state for driving the mechanical arm body to rotate and a second state for driving the slide bar to slide inside the housing.

6. The milling and digging type crushing mechanical arm in a tank according to claim 5, characterized in that: A mounting seat is fixedly connected inside the housing, a first latch is slidably arranged on the mounting seat, and a first plug hole matching the first latch is provided on the slide bar; It also includes a first driving member for driving the first pin to be plugged into or away from the first socket.

7. The milling and digging type crushing mechanical arm in a tank according to claim 6, characterized in that: A second latch is also slidably provided on the mounting seat, and a second plug hole matching the second latch is provided on the tooth plate; It also includes a second driving member for driving the second pin to be plugged into or away from the second socket.

8. The milling and digging type crushing mechanical arm in a tank according to claim 7, characterized in that: The first driving member comprises an abutment plate arranged on the tooth plate, the first latch is provided with an abutment portion, and the abutment plate is located on the movement stroke of the abutment portion; A first spring is arranged between the first latch and the mounting seat.

9. The milling and digging type crushing mechanical arm in a tank according to claim 8, characterized in that: The second driving member comprises an abutment block fixedly connected to the first latch, and the second latch is provided with a transmission block, and the transmission block is located on the movement stroke of the abutment block; A second spring is arranged between the second latch and the mounting seat.

10. The tank body milling and digging type crushing mechanical arm according to claim 8, characterized in that: The slide bar is provided with an unlocking member for moving the abutment plate away from the first latch.

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