Intelligent pipeline crystal breaking robot

Abstract

The invention is suitable for the technical field of pipeline cleaning, and provides an intelligent pipeline crystal breaking robot which comprises a cylindrical and horizontally-arranged shell, and a square frame used for installing a crystal breaking mechanism is arranged in the shell; wherein the crystal breaking mechanism is used for removing crystals attached to the interior of a pipeline, a cylinder base used for installing the rotating assembly is assembled in the shell, and the rotating assembly is used for adjusting the orientation of the crystal breaking mechanism; and a mobile storage assembly is arranged in the shell and is used for withdrawing the crystal breaking mechanism into the shell. According to the intelligent pipeline crystal breaking robot, efficient crystal breaking can be achieved through the rotating cutter head, the orientation of the cutter rod can be adjusted, crystal distribution can be adapted, the crystal breaking pertinence and effect are improved, the crystal breaking mechanism can be conveniently stored, an adjusting motor in the power assembly can drive various mechanisms to act through the position adjusting assembly, and the operation flexibility is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline cleaning, and particularly relates to an intelligent pipeline crystal-breaking robot. Background Art

[0002] In modern industry and urban infrastructure, pipeline systems play a crucial role and are widely used in fields such as water supply, drainage, petroleum, and natural gas. However, during long-term use, crystalline substances such as calcium carbonate and calcium sulfate are likely to form on the inner wall of the pipeline. These crystalline substances not only reduce the effective flow area of the pipeline, lower the transportation efficiency, but may also cause pipeline blockage and even trigger serious safety accidents. Therefore, regularly cleaning the crystalline substances on the inner wall of the pipeline is an important part of pipeline maintenance.

[0003] Traditional pipeline cleaning methods mainly rely on manual operation or simple mechanical equipment, which have problems such as low efficiency, high cost, and poor safety. There are also methods of flushing the pipeline by spraying high-pressure water into the pipeline, but for the crystalline substances attached to the inner wall of the pipeline, it is difficult to achieve the cleaning effect by water flushing. Summary of the Invention

[0004] To solve the technical problems of low efficiency and potential safety hazards in manually cleaning the crystals in the pipeline, and the difficulty in cleaning the stubborn crystals attached to the bottom of the pipeline by water flushing, the present invention provides an intelligent pipeline crystal-breaking robot.

[0005] The present invention is implemented as follows. An intelligent pipeline crystal-breaking robot includes: a cylindrical and horizontally arranged housing, and a square frame for installing a crystal-breaking mechanism is arranged inside the housing; wherein, the crystal-breaking mechanism is used to remove the crystals attached to the pipeline, and a cylindrical seat for installing a rotating assembly is assembled inside the housing, and the rotating assembly is used to adjust the orientation of the crystal-breaking mechanism; a moving and receiving assembly is arranged inside the housing for retracting the crystal-breaking mechanism into the housing.

[0006] Preferably, a remote-controlled mobile vehicle is further installed at the bottom of the housing for the movement of the housing and its components inside the pipeline. The remote-controlled mobile vehicle can be remotely controlled through a remote control device. The technology of the remote-controlled mobile vehicle is relatively mature, and its structure and principle will not be elaborated here.

[0007] Preferably, the crystal-breaking mechanism includes: a connecting cylinder fixed to one side of the square frame, a cylindrical box is welded to one end of the connecting cylinder; a square block provided on the cylindrical box and having a through hole, and a cutter bar is rotatably installed inside the square block; a cutter head fixedly installed at one end of the cutter bar for breaking the crystals in the pipeline in a rotating state.

[0008] Preferably, the crystal-breaking mechanism is equipped with a driving component for driving the rotation of the tool rod. The driving component includes: a crystal-breaking motor fixedly installed within the square frame, one end of the output shaft of which is connected to an extension shaft passing through the connecting cylinder. The extension shaft is rotatably connected to the connecting cylinder through a bearing, and a first bevel gear is fixedly sleeved at the end away from the crystal-breaking motor; a first middle shaft rotatably installed on the inner wall of one side of the cylindrical box, and a second bevel gear is fixedly sleeved on the box at one end of the first middle shaft; a third bevel gear fixedly sleeved on the end of the tool rod located within the cylindrical box, and both the third bevel gear and the first bevel gear are meshed with the second bevel gear.

[0009] Preferably, an angle adjustment mechanism for adjusting the angle of the tool rod is further assembled on the crystal-breaking mechanism, including: a first hinge block fixedly installed at the bottom of the connecting cylinder; a first electric telescopic rod hinged to the first hinge block, and the output rod of the first electric telescopic rod is hinged to a second hinge block fixed to the bottom of the square block; wherein, a sliding hole for the square block to penetrate is formed in the cylindrical box, and arc-shaped sliding grooves are formed on both sides of the square block. The inner walls of both sides of the sliding hole are in contact with and slidably connected to the inner walls of the two arc-shaped sliding grooves. Through the limiting action of the arc-shaped sliding grooves and the sliding hole, the tool rod can maintain relative stability when adjusting the angle, so that the third bevel gear remains meshed with the second bevel gear.

[0010] Preferably, a lifting adjustment component for lifting and adjusting the square frame is installed within the housing, including: a mounting seat arranged within the housing, a threaded rod is rotatably installed on the mounting seat and two limiting sliding rods are fixedly installed thereon, and the threaded rod and the two limiting sliding rods are all arranged in parallel; a connecting seat sleeved on the threaded rod and threadedly connected to the threaded rod, and slidably sleeved on the two limiting sliding rods, and one side of the connecting seat is fixedly connected to one side of the square frame; wherein, the lifting adjustment component is equipped with a transmission mechanism for driving the rotation of the threaded rod to realize the movement of the connecting seat.

[0011] Preferably, the transmission mechanism includes: a first support block fixed to one side of the mounting seat, a second middle shaft parallel to the threaded rod is rotatably installed on the first support block; two first spur gears respectively fixedly sleeved on one ends of the second middle shaft and the threaded rod and meshed with each other; a third middle shaft rotatably installed on one side of the mounting seat, and fourth bevel gears are fixedly sleeved on one ends of the third middle shaft and the second middle shaft respectively, and the two fourth bevel gears are meshed with each other; a second spur gear fixedly sleeved on one end of the third middle shaft. By driving the rotation of the second spur gear, the movement of the connecting seat is finally realized.

[0012] Preferably, a linkage component for driving the rotation of the second spur gear is installed on the cylindrical seat. The linkage component includes a cylindrical cylinder rotatably sleeved on the outer wall of the cylindrical seat through a bearing. An annular internal gear is fixedly installed on the inner wall of the cylindrical cylinder, and an annular external gear meshed with the second spur gear is fixedly sleeved on the outer wall of the cylindrical cylinder.

[0013] Preferably, the rotating assembly includes: a rotating shaft rotatably mounted on the cylindrical seat and fixedly connected to one side of the mounting seat; a second support block fixedly mounted on the inner wall of the cylindrical seat, a connecting shaft is rotatably mounted on the second support block, one end of the connecting shaft is connected to the rotating shaft, and a first driving spur gear is fixedly sleeved on the other end. By driving the first driving spur gear to rotate, the rotation of the mounting seat is realized; wherein, an annular limiting groove is formed on the cylindrical seat, and a plurality of stable sliding blocks are fixedly mounted on one side of the mounting seat, and the plurality of stable sliding blocks are slidably connected to the inner wall of the annular limiting groove to ensure the stability of the mounting seat during rotation.

[0014] Preferably, the moving and receiving assembly includes: two L-shaped blocks respectively fixed on both sides of the cylindrical seat, and threaded sleeves are rotatably mounted on the two L-shaped blocks; two parallel lead screws respectively fixedly mounted on the inner walls of both ends of the housing and respectively passing through the two threaded sleeves, and the two lead screws are respectively threadedly connected to the two threaded sleeves; a rotating rod rotatably mounted on the two L-shaped blocks, and fifth bevel gears are fixedly sleeved on both ends of the rotating rod and on the two threaded sleeves, and the four fifth bevel gears are meshed in pairs; a third support block fixedly mounted on the inner wall of the cylindrical seat, and a fourth middle shaft is rotatably mounted on the third support block; two sixth bevel gears respectively rotatably sleeved on the rotating rod and one end of the fourth middle shaft, and the two sixth bevel gears are meshed; a second driving spur gear fixed to the other end of the fourth middle shaft. By driving the second driving spur gear, the synchronous rotation of the two threaded sleeves is realized, so that the two L-shaped blocks move synchronously along the two lead screws to realize the extension and retraction of the crystal breaking mechanism.

[0015] Preferably, a same power assembly is mounted at the bottoms of the two L-shaped blocks. The power assembly includes a support fixedly mounted at the bottoms of the two L-shaped blocks, and an adjustment motor is slidably mounted on the support. A main gear is fixedly sleeved on the output shaft thereof. By adjusting the position of the main gear through the adjustment motor, meshing with the first driving spur gear, the second driving spur gear and the annular internal gear can be realized.

[0016] Preferably, a position adjustment assembly is assembled at the bottom of the support for replacing the position of the adjustment motor. The position adjustment assembly includes a second electric telescopic rod and a slider. The second electric telescopic rod is fixedly mounted at the bottom of the support, and its output rod is fixedly connected to the slider. The slider passes through a limiting sliding hole formed at the bottom of the support and is slidably connected to the limiting sliding hole. The top of the slider is fixedly connected to the base of the moving adjustment motor.

[0017] Preferably, one end of the output shaft of the adjusting motor is fixedly installed with a pin rod, and the other end of the pin rod is rotatably sleeved with a collar. When the main gear meshes with the annular internal gear, the collar is inserted into the pin slot opened on one side of the mounting seat to limit the rotation of the mounting seat. When the main gear meshes with the first transmission spur gear or the second transmission spur gear, the collar disengages from the pin slot on the mounting seat.

[0018] Preferably, an installation box is fixedly installed on one side of the housing. A lithium battery for power supply is arranged in the installation box, and a remotely controllable controller is arranged in the installation box.

[0019] Preferably, cameras are assembled at the front end, top of the housing and the rear end of the installation box to observe the crystallization situation in the pipeline.

[0020] Compared with the related art, the intelligent pipeline crystal-breaking robot provided by the present invention has the following beneficial effects:

[0021] In the present invention, the cutter head in the crystal-breaking mechanism rotates efficiently under the drive of the drive assembly to break the crystal, so that the crystal deposits can be effectively washed away when high-pressure water flow is used for flushing subsequently. And through the cooperation of the angle adjustment mechanism, the lifting adjustment assembly and the rotation assembly, the orientation of the cutter bar can be adjusted to adapt to the crystal distribution, improving the pertinence and effect of crystal breaking and the comprehensiveness of cleaning; the moving and receiving assembly can retract the crystal-breaking mechanism, which is beneficial to quickly passing through the pipeline; the adjusting motor in the power assembly can adjust its position to engage with different gears with the help of the position adjustment assembly, driving various mechanisms to act, enhancing the operation flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic side sectional view of an intelligent pipeline crystal-breaking robot provided by the present invention;

[0023] Figure 2 is a schematic side view of an intelligent pipeline crystal-breaking robot provided by the present invention;

[0024] Figure 3 is Figure 1 an enlarged structural schematic diagram of part A shown in

[0025] Figure 4 is Figure 1 an enlarged structural schematic diagram of part B shown in

[0026] Figure 5 is Figure 4 an enlarged structural schematic diagram of part C shown in

[0027] Figure 6 is Figure 4 an enlarged structural schematic diagram of part D shown in

[0028] Figure 7Schematic structural diagram of the driving component in the present invention;

[0029] Figure 8 Schematic top view sectional assembly diagram of the storage component on the housing in the present invention;

[0030] Figure 9 For Figure 8 Enlarged structural schematic diagram of part E shown in;

[0031] Figure 10 Schematic side view sectional structure diagram of the crystal breaking mechanism when the cutter head is facing down in the present invention;

[0032] Figure 11 Front view assembly schematic diagram of the L-shaped block and the power component in the present invention;

[0033] Figure 12 3D structural schematic diagram of the lifting and adjusting component in the present invention;

[0034] Figure 13 3D structural schematic diagram of the cylindrical seat in the present invention;

[0035] Figure 14 Front view structural schematic diagram of the cylindrical seat in the present invention;

[0036] Figure 15 3D structural schematic diagram of the cutter head in the present invention;

[0037] Figure 16 3D structural schematic diagram of the square block in the present invention.

[0038] Reference numerals: 1, housing; 2, square frame; 3, camera; 4, remote control mobile vehicle; 5, cylindrical seat; 6, installation box; 11, connecting cylinder; 12, cylindrical box; 13, square block; 14, cutter bar; 15, cutter head; 16, crystal breaking motor; 17, extension shaft; 18, first bevel gear; 19, first middle shaft; 20, second bevel gear; 21, third bevel gear; 22, first hinge block; 23, first electric telescopic rod; 24, second hinge block; 30, limiting slide bar; 31, mounting seat; 32, threaded rod; 33, connecting seat; 34, first support block; 35, second middle shaft; 36, first spur gear; 37, third middle shaft; 38, fourth bevel gear; 39, second spur gear; 41, cylindrical tube; 42, annular internal gear; 43, annular external gear; 50, stable sliding block; 51, rotating shaft; 52, second support block; 53, connecting shaft; 54, first transmission spur gear; 61, L-shaped block; 62, threaded sleeve; 63, lead screw; 64, rotating rod; 65, fifth bevel gear; 66, third support block; 67, fourth middle shaft; 68, sixth bevel gear; 69, second transmission spur gear; 71, support; 72, adjusting motor; 73, main gear; 74, second electric telescopic rod; 75, slider. Specific implementation manners

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and the above drawings of this application are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and the above drawings of this application are used to distinguish different objects and not to describe a specific order.

[0040] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of this application. The phrase does not necessarily refer to the same embodiment each time it appears in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] An embodiment of the present invention provides an intelligent pipeline crystal-breaking robot, as Figure 1-16 shown, the intelligent pipeline crystal-breaking robot includes: a horizontally arranged cylindrical housing 1, and a square frame 2 for installing a crystal-breaking mechanism is arranged inside the housing 1; wherein, the crystal-breaking mechanism is used to remove crystals attached inside the pipeline, and a cylindrical seat 5 for installing a rotating assembly is assembled inside the housing 1, and the rotating assembly is used to adjust the orientation of the crystal-breaking mechanism; a mobile storage assembly is arranged inside the housing 1 for retracting the crystal-breaking mechanism into the housing 1.

[0042] It should be noted that a remote control mobile vehicle 4 is also installed at the bottom of the housing 1 for the movement of the housing 1 and its components inside the pipeline. The remote control mobile vehicle 4 can be remotely controlled by a remote control device. The technology of the remote control mobile vehicle 4 is relatively mature, and its structure and principle will not be elaborated here;

[0043] In addition, a lighting lamp (not shown in the figure) is also installed at the front end of the housing 1 for lighting inside the pipeline. The technology of the lighting lamp is relatively simple and easy to implement for those skilled in the art, and will not be elaborated either.

[0044] In this embodiment, the housing 1 of the intelligent pipeline crystal-breaking robot is cylindrical and horizontally arranged, and the internal square frame 2 is used to install the crystal-breaking mechanism. The crystal-breaking mechanism can remove the crystals in the pipeline so that the crystallization can be effectively washed away when the high-pressure water flow is used for flushing later. The rotating assembly in the cylindrical seat 5 can adjust the orientation of the crystal-breaking mechanism, which helps to accurately process the crystallization at different positions. The mobile storage assembly can retract the crystal-breaking mechanism into the housing to protect the crystal-breaking mechanism when the robot is moving or not working and facilitate movement in the pipeline. The remote-controlled mobile vehicle 4 at the bottom of the housing 1 can be remotely controlled by a remote control device, which is convenient for the robot to move to the position where crystal-breaking is required in the pipeline. This design enables the robot to operate flexibly in the pipeline, reduces manual intervention, efficiently removes the crystallization in the pipeline, and improves the service life and conveying efficiency of the pipeline.

[0045] In a further preferred embodiment of the present invention, the crystal-breaking mechanism includes: a connecting cylinder 11 fixed to one side of the square frame 2, and a cylindrical box 12 is welded to one end of the connecting cylinder 11; a square block 13 provided on the cylindrical box 12 and having a through hole, and a cutter bar 14 is rotatably installed in the square block 13; a cutter head 15 fixedly installed at one end of the cutter bar 14 for breaking the crystallization in the pipeline in a rotating state.

[0046] In this embodiment, the connecting cylinder 11 of the crystal-breaking mechanism is fixed to one side of the square frame 2, and the cylindrical box 12 welded to one end thereof is provided with a square block 13 with a through hole. The cutter bar 14 rotates in the square block 13, and the cutter head 15 is installed at one end of the cutter bar 14. During operation, the cutter head 15 can effectively break the crystallization in the pipeline in a rotating state. This structural design makes the crystal-breaking action targeted. The cutter head 15 directly acts on the crystallization, and the cooperation of the connecting cylinder 11, the cylindrical box 12, the square block 13 and the cutter bar 14 ensures the stable rotation of the cutter head 15, thereby efficiently breaking and removing the crystallization in the pipeline, improving the ability of the entire robot to remove crystallization, and reducing problems such as blockage and reduced conveying efficiency caused by crystallization in the pipeline.

[0047] In a further preferred embodiment of the present invention, the crystal-breaking mechanism is equipped with a driving assembly for driving the rotation of the cutter bar 14. The driving assembly includes: a crystal-breaking motor 16 fixedly installed in the square frame 2, and one end of its output shaft is connected with an extension shaft 17 passing through the connecting cylinder 11. The extension shaft 17 is rotatably connected with the connecting cylinder 11 through a bearing, and a first bevel gear 18 is fixedly sleeved at the end far from the crystal-breaking motor 16; a first middle shaft 19 rotatably installed on the inner wall of one side of the cylindrical box 12, and a second bevel gear 20 is fixedly sleeved at one end of the first middle shaft 19; a third bevel gear 21 fixedly sleeved on the end of the cutter bar 14 located in the cylindrical box 12, and both the third bevel gear 21 and the first bevel gear 18 are meshed with the second bevel gear 20.

[0048] In this embodiment, the driving component of the crystal-breaking mechanism is powered by a crystal-breaking motor 16. The extension shaft 17 connected to the output shaft of the crystal-breaking motor 16 penetrates through the connecting cylinder 11 and is rotatably connected to the connecting cylinder 11. The first bevel gear 18 at the end of the extension shaft 17 meshes with the second bevel gear 20 on the first middle shaft 19 and the third bevel gear 21 on the tool bar 14. This structural design enables the crystal-breaking motor 16 to effectively transmit power to the tool bar 14, thereby driving the cutter head 15 to rotate for crystal-breaking work. The meshing relationship between the gears ensures the stability and accuracy of power transmission, ensuring that the tool bar 14 can rotate at an appropriate speed and torque, thereby improving the efficiency and effect of crystal-breaking and stably crushing and removing the crystals in the pipeline.

[0049] In a further preferred embodiment of the present invention, an angle adjustment mechanism for adjusting the angle of the tool bar 14 is further assembled on the crystal-breaking mechanism, including: a first hinge block 22 fixedly installed at the bottom of the connecting cylinder 11; a first electric telescopic rod 23 hinged to the first hinge block 22, and the output rod of the first electric telescopic rod 23 is hinged to a second hinge block 24 fixed to the bottom of the square block 13; wherein, a sliding hole for the square block 13 to penetrate is provided on the cylindrical box 12, arc-shaped sliding grooves are provided on both sides of the square block 13, and the inner walls of both sides of the sliding hole are in contact with and slidably connected to the inner walls of the two arc-shaped sliding grooves. The limiting effect of the arc-shaped sliding grooves and the sliding hole enables the tool bar 14 to remain relatively stable when adjusting the angle, so that the third bevel gear 21 and the second bevel gear 20 remain meshed.

[0050] In this embodiment, the first hinge block 22 of the angle adjustment mechanism is fixed to the bottom of the connecting cylinder 11, the first electric telescopic rod 23 is hinged to the first hinge block 22 and the output rod is hinged to the second hinge block 24 at the bottom of the square block 13. The sliding hole on the cylindrical box 12 cooperates with the arc-shaped sliding grooves on both sides of the square block 13 to play a limiting role when adjusting the angle. When it is necessary to adjust the angle of the tool bar 14, the first electric telescopic rod 23 expands and contracts, driving the square block 13 to move under the limitation of the sliding hole and the arc-shaped sliding grooves, thereby changing the angle of the tool bar 14. The beneficial effect of such a design is that on the one hand, the tool bar 14 can be kept relatively stable when adjusting the angle, ensuring that the third bevel gear 21 and the second bevel gear 20 always remain meshed and guaranteeing the continuity of power transmission; on the other hand, the angle of the tool bar 14 can be flexibly adjusted according to the actual distribution of the crystals in the pipeline, thereby expanding the crystal-breaking range and improving the comprehensiveness and pertinence of crystal-breaking. And when the cutter head 15 is adjusted downward, the cutter head 15 is moved downward through the lifting adjustment component to break and clean the stubborn crystals attached to the bottom of the pipeline, effectively improving the breaking efficiency of the stubborn crystals so that the crystals can be effectively washed away when using high-pressure water flow for flushing subsequently.

[0051] In a further preferred embodiment of the present invention, a lifting adjustment assembly for lifting and adjusting the square frame 2 is installed in the housing 1, including: a mounting seat 31 provided in the housing 1, a threaded rod 32 is rotatably installed on the mounting seat 31 and two limit slide rods 30 are fixedly installed, and the threaded rod 32 and the two limit slide rods 30 are arranged in parallel; a connecting seat 33 sleeved on the threaded rod 32 and threadedly connected to the threaded rod 32, and slidably sleeved on the two limit slide rods 30, and one side of the connecting seat 33 is fixedly connected to one side of the square frame 2; wherein, the lifting adjustment assembly is equipped with a transmission mechanism for driving the threaded rod 32 to rotate to realize the movement of the connecting seat 33.

[0052] In this embodiment, the mounting seat 31 of the lifting adjustment assembly is located in the housing 1, the threaded rod 32 thereon is arranged in parallel with the two limit slide rods 30, the connecting seat 33 is sleeved on the threaded rod 32 and fixedly connected to one side of the square frame 2, and at the same time is slidably sleeved on the two limit slide rods 30. When the transmission mechanism drives the threaded rod 32 to rotate, due to the threaded connection relationship and the limiting effect of the limit slide rods 30, the connecting seat 33 will drive the square frame 2 to move up and down. The effect is that the height of the square frame 2 can be flexibly adjusted according to the height position of the crystallization in the pipeline, and then the height position of the crystal breaking mechanism can be adjusted, so that the crystal breaking mechanism can accurately process the crystallization at different heights, improving the ability of the robot to cope with different crystallization distribution situations in the pipeline and enhancing the accuracy and efficiency of crystal breaking.

[0053] In a further preferred embodiment of the present invention, the transmission mechanism includes: a first support block 34 fixed to one side of the mounting seat 31, a second middle shaft 35 parallel to the threaded rod 32 is rotatably installed on the first support block 34; two first spur gears 36 fixedly sleeved on one end of the second middle shaft 35 and the threaded rod 32 respectively and meshing with each other; a third middle shaft 37 rotatably installed on one side of the mounting seat 31, fourth bevel gears 38 are fixedly sleeved on one end of the third middle shaft 37 and the second middle shaft 35 respectively, and the two fourth bevel gears 38 mesh with each other; a second spur gear 39 fixedly sleeved on one end of the third middle shaft 37, and by driving the second spur gear 39 to rotate, the movement of the connecting seat 33 is finally realized.

[0054] In this embodiment, the first support block 34 of the transmission mechanism is fixed to one side of the mounting seat 31, the second middle shaft 35 is rotatably mounted on the first support block 34, two first spur gears 36 are respectively sleeved on one end of the second middle shaft 35 and the threaded rod 32 and are meshed with each other, the third middle shaft 37 is rotatably mounted on one side of the mounting seat 31, and is meshed with a fourth bevel gear 38 at one end of the second middle shaft 35, and the second spur gear 39 is sleeved on one end of the third middle shaft 37. When the second spur gear 39 is driven to rotate, through a series of gear transmissions, the connecting seat 33 is finally moved. The effect is that this complex but orderly gear transmission structure can effectively transmit power to the threaded rod 32, so as to realize the precise movement of the connecting seat 33 to drive the square frame 2, so as to adjust the height of the crystal breaking mechanism. The meshing between each gear ensures the accuracy and stability of power transmission, enables the crystal breaking mechanism to quickly and accurately reach the appropriate height to process the pipeline crystallization, and improves the accuracy of the crystal breaking operation of the whole robot.

[0055] In a further preferred embodiment of the present invention, a linkage assembly for driving the second spur gear 39 to rotate is mounted on the cylinder seat 5. The linkage assembly includes a cylindrical cylinder 41 rotatably sleeved on the outer wall of the cylinder seat 5 through a bearing. An annular internal gear 42 is fixedly installed on the inner wall of the cylindrical cylinder 41, and an annular external gear 43 meshing with the second spur gear 39 is fixedly sleeved on the outer wall of the cylindrical cylinder 41.

[0056] In this embodiment, the cylindrical cylinder 41 of the linkage assembly is rotatably sleeved on the outer wall of the cylinder seat 5 through a bearing, the annular internal gear 42 on its inner wall and the annular external gear 43 on its outer wall are fixedly installed, and the annular external gear 43 meshes with the second spur gear 39. When power acts on the annular internal gear 42 to rotate the cylindrical cylinder 41, the second spur gear 39 is driven to rotate through the annular external gear 43. The effect is that this structure cleverly transmits external power to the second spur gear 39, which is an important part of the whole transmission system, ensures the coherence of the transmission from the outside to the inside, helps to realize the control of the lifting adjustment assembly, so as to accurately adjust the height of the crystal breaking mechanism and ensure the effective progress of the crystal breaking work.

[0057] In a further preferred embodiment of the present invention, the rotating assembly includes: a rotating shaft 51 rotatably mounted on the cylinder seat 5 and fixedly connected to one side of the mounting seat 31; a second support block 52 fixedly installed on the inner wall of the cylinder seat 5, a connecting shaft 53 is rotatably mounted on the second support block 52, one end of the connecting shaft 53 is connected to the rotating shaft 51, and a first transmission spur gear 54 is fixedly sleeved on the other end. By driving the first transmission spur gear 54 to rotate, the rotation of the mounting seat 31 is realized; wherein, an annular limiting groove is opened on the cylinder seat 5, and a plurality of stable sliding blocks 50 are fixedly installed on one side of the mounting seat 31, and the plurality of stable sliding blocks 50 are slidably connected to the inner wall of the annular limiting groove to ensure the stability of the mounting seat 31 during rotation.

[0058] In this embodiment, the rotating shaft 51 of the rotating assembly is rotatably installed on the cylindrical seat 5 and fixedly connected to one side of the mounting seat 31. The second support block 52 is fixed to the inner wall of the cylindrical seat 5. The connecting shaft 53 is rotatably installed on the second support block 52, connected to the rotating shaft 51 at one end, and the first driving spur gear 54 at the other end can be driven to rotate to realize the rotation of the mounting seat 31. At the same time, a plurality of stable sliding blocks 50 on one side of the mounting seat 31 are slidably connected to the inner wall of the annular limiting groove on the cylindrical seat 5. The beneficial effect is that when the first driving spur gear 54 is driven to rotate, it can drive the mounting seat 31 to rotate, thereby adjusting the horizontal direction angle of the crystal breaking mechanism. The cooperation between the stable sliding block 50 and the limiting groove ensures the stability of the mounting seat 31 during rotation, enabling the crystal breaking mechanism to operate stably and reliably when adjusting the angle in the horizontal direction, which helps to improve the accuracy and comprehensiveness of the crystal breaking operation in different orientations.

[0059] In another embodiment of the present invention, the mobile storage assembly includes: two L-shaped blocks 61 respectively fixed on both sides of the cylindrical seat 5, and threaded sleeves 62 are rotatably installed on the two L-shaped blocks 61; two parallel lead screws 63 respectively fixedly installed on the inner walls of both ends of the housing 1 and respectively passing through the two threaded sleeves 62, and the two lead screws 63 are respectively threadedly connected to the two threaded sleeves 62; a rotating rod 64 rotatably installed on the two L-shaped blocks 61, and fifth bevel gears 65 are fixedly sleeved on both ends of the rotating rod 64 and on the two threaded sleeves 62, and the four fifth bevel gears 65 are meshed in pairs; a third support block 66 fixedly installed on the inner wall of the cylindrical seat 5, and a fourth middle shaft 67 is rotatably installed on the third support block 66; two sixth bevel gears 68 respectively rotatably sleeved on the rotating rod 64 and one end of the fourth middle shaft 67, and the two sixth bevel gears 68 are meshed; a second driving spur gear 69 fixed to the other end of the fourth middle shaft 67. By driving the second driving spur gear 69, the synchronous rotation of the two threaded sleeves 62 is realized, so that the two L-shaped blocks 61 move synchronously along the two lead screws 63, realizing the extension and retraction of the crystal breaking mechanism.

[0060] In this embodiment, two L-shaped blocks 61 of the movable storage component are fixed on both sides of the cylindrical seat 5. The threaded sleeve 62 is rotatably installed on the L-shaped block 61. The lead screw 63 penetrates through the threaded sleeve 62 and is threadedly connected to the threaded sleeve 62. The rotating rod 64 is rotatably installed on the L-shaped block 61, and its two ends are meshed with the fifth bevel gears 65 on the threaded sleeve 62 in pairs. The third support block 66 is fixed on the inner wall of the cylindrical seat 5. The fourth central shaft 67 is rotatably installed on the third support block 66. The rotating rod 64 is meshed with the sixth bevel gear 68 at one end of the fourth central shaft 67. The second driving spur gear 69 is located at the other end of the fourth central shaft 67. When the second driving spur gear 69 is driven, through a series of transmissions, the two threaded sleeves 62 rotate synchronously, and then the two L-shaped blocks 61 move synchronously along the lead screw 63. The effect is that the extension and retraction of the crystal-breaking mechanism can be accurately controlled, so that the crystal-breaking mechanism can be stored when not working, avoiding occupying too much space, and can accurately extend to the appropriate position when working. This design of synchronous movement ensures the smoothness and accuracy of the overall movement of the crystal-breaking mechanism, which helps to improve the use efficiency and flexibility of the crystal-breaking equipment.

[0061] In another embodiment of the present invention, a same power component is installed at the bottom of the two L-shaped blocks 61. The power component includes a support 71 fixedly installed at the bottom of the two L-shaped blocks 61. An adjustment motor 72 is slidably installed on the support 71, and a main gear 73 is fixedly sleeved on its output shaft. By adjusting the position of the main gear 73 through the adjustment motor 72, meshing with the first driving spur gear 54, the second driving spur gear 69, and the annular internal gear 42 can be achieved.

[0062] In this embodiment, the support 71 of the power component is fixed at the bottom of the two L-shaped blocks 61. The adjustment motor 72 is slidably installed on the support 71, and the main gear 73 on its output shaft can achieve meshing with the first driving spur gear 54, the second driving spur gear 69, and the annular internal gear 42 through the movement of the adjustment motor 72. The beneficial effect is that by adjusting the position of the main gear 73 through the adjustment motor 72, meshing with different gears can be achieved. This design enables one motor to provide power for multiple transmission components, reducing the number of motors in the equipment, simplifying the overall structure, and reducing costs. At the same time, the power transmission path can be flexibly switched according to actual needs, which helps to improve the versatility of the equipment and the convenience of operation.

[0063] In another embodiment of the present invention, a position adjustment component is assembled at the bottom of the support 71 for replacing the position of the adjustment motor 72. The position adjustment component includes a second electric telescopic rod 74 and a slider 75. The second electric telescopic rod 74 is fixedly installed at the bottom of the support 71, and its output rod is fixedly connected to the slider 75. And the slider 75 penetrates through a limit sliding hole opened at the bottom of the support 71 and is slidably connected to the limit sliding hole. The top of the slider 75 is fixedly connected to the base of the mobile adjustment motor 74.

[0064] In this embodiment, the second electric telescopic rod 74 of the position adjustment assembly is fixed to the bottom of the support 71, and its output rod is fixedly connected to the slider 75. The slider 75 passes through the limit sliding hole at the bottom of the support 71 and is slidably connected thereto, and the top is fixedly connected to the base of the moving adjustment motor 74. The effect is that the slider 75 is driven to move by the expansion and contraction of the second electric telescopic rod 74, thereby changing the position of the adjustment motor 72 and achieving the accurate meshing of the main gear 73 with different gears. This design makes the adjustment of the motor position more accurate and convenient, further improving the flexibility and accuracy of the equipment in power switching, contributing to the efficient and stable operation of the entire equipment, and ensuring that the crystal breaking mechanism can smoothly perform various actions under different working requirements.

[0065] In another embodiment of the present invention, a pin rod 81 is fixedly installed at one end of the output shaft of the adjustment motor 72. A collar 82 is rotatably sleeved at the other end of the pin rod 81. When the main gear 73 meshes with the annular internal gear 42, the collar 82 is inserted into the pin slot opened on one side of the mounting seat 31 to limit the rotation of the mounting seat 31. When the main gear 73 meshes with the first transmission spur gear 54 or the second transmission spur gear 69, the collar 82 disengages from the pin slot on the mounting seat 31.

[0066] In this embodiment, the pin rod 81 at one end of the output shaft of the adjustment motor 72 is rotatably sleeved with the collar 82. When the main gear 73 meshes with the annular internal gear 42, the collar 82 is inserted into the pin slot on one side of the mounting seat 31 to limit its rotation. When the main gear 73 meshes with the first transmission spur gear 54 or the second transmission spur gear 69, the collar 82 disengages from the pin slot on the mounting seat 31. The beneficial effect is that through the cooperation of the collar 82 and the pin slot, the rotation of the mounting seat 31 can be restricted according to the meshing situation of the main gear 73. When specific transmission is required and the rotation of the mounting seat 31 is not desired, its rotation can be effectively restricted to ensure the accuracy of the transmission. When the rotation of the mounting seat 31 does not need to be restricted in other transmission situations, the collar 82 can be disengaged in time, enabling the mounting seat 31 to rotate normally, which helps to improve the coordination and accuracy of the operation of the entire crystal breaking mechanism.

[0067] In a further preferred embodiment of the present invention, an installation box 6 is fixedly installed on one side of the housing 1. A lithium battery for power supply is arranged in the installation box 6, and a remotely controllable controller is arranged in the installation box 6.

[0068] In this embodiment, the lithium battery provided in the installation box 6 can supply independent power for the robot, facilitating the movement and operation of the robot inside the pipeline. Meanwhile, the remotely controllable controller provided in the installation box 6 enables the operator to operate the robot outside the pipeline, reducing the risk for the operator to enter the dangerous pipeline environment. The control circuit of the controller can be implemented through simple programming by those skilled in the art; and the controller is equipped with a signal receiving and transmitting system for signal transmission with external control devices. This technology is clear to those skilled in the art and will not be elaborated here.

[0069] In a further preferred embodiment of the present invention, cameras 3 are assembled at the front end, top of the housing 1 and the rear end of the installation box 6 for observing the crystallization situation inside the pipeline.

[0070] In this embodiment, the cameras 3 assembled at the front end, top of the housing 1 and the rear end of the installation box 6 can observe the crystallization situation inside the pipeline in real time. The operator can, according to the information fed back by the cameras, better control the robot, making the crystal breaking work more accurate and efficient.

[0071] It should be noted that the circuits, electronic components and modules involved in the present invention are all prior arts, which can be fully realized by those skilled in the art without further elaboration. The content protected by the present invention does not involve improvements to software and methods either.

[0072] To sum up, compared with the related technologies, in the present invention, the cutter head 15 in the crystal breaking mechanism can break the crystallization inside the pipeline in a rotating state under the drive of the drive component, making the crystal breaking action more efficient and enabling rapid breaking and clearing of the crystallization inside the pipeline;

[0073] The angle adjustment mechanism equipped in the crystal breaking mechanism is used in cooperation with the lifting adjustment component and the rotating component.

[0074] It can adjust the orientation of the cutter bar 14, expand the breaking range according to the actual situation of the crystallization, so as to better adapt to the complex crystallization distribution, enhance the pertinence of crystal breaking, and improve the effect of crystal breaking and the comprehensiveness of cleaning;

[0075] The mobile storage component can retract the crystal breaking mechanism into the housing 1, facilitating rapid passage inside the pipeline.

[0076] The adjustment motor 72 in the power component can adjust its position through the position adjustment component, realizing the meshing of the main gear 73 with different gears (such as the first transmission spur gear 54, the second transmission spur gear 69, the annular internal gear 42), thereby driving different mechanisms to act. This multi-functional design improves the operation flexibility of the robot.

[0077] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still, without conflict and without creative efforts, combine, add, delete or make other adjustments to the features in the embodiments of the present invention according to the situation, so as to obtain different technical solutions that essentially do not deviate from the concept of the present invention, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. An intelligent pipeline crystal-breaking robot, characterized in that, Including: A cylindrical and horizontally arranged housing, inside which there is a square frame for installing a crystal-breaking mechanism; Among them, the crystal-breaking mechanism is used to remove the crystals attached to the pipeline, and inside the housing there is a cylindrical seat for installing a rotating assembly, and the rotating assembly is used to adjust the orientation of the crystal-breaking mechanism; A moving storage assembly is arranged inside the housing for retracting the crystal-breaking mechanism into the housing.

2. The intelligent pipeline crystal-breaking robot according to claim 1, wherein, The crystal-breaking mechanism includes: A connecting cylinder fixed to one side of the square frame, and one end of the connecting cylinder is welded with a cylindrical box; A square block arranged on the cylindrical box and provided with a through hole, and a cutter bar is rotatably installed inside the square block; A cutter head fixedly installed at one end of the cutter bar for breaking the crystals in the pipeline in a rotating state.

3. The intelligent pipeline crystal-breaking robot according to claim 2, wherein, The crystal-breaking mechanism is equipped with a driving assembly for driving the rotation of the cutter bar, and the driving assembly includes: A crystal-breaking motor fixedly installed inside the square frame, one end of its output shaft is connected with an extension shaft passing through the connecting cylinder, the extension shaft is rotatably connected with the connecting cylinder through a bearing, and a first bevel gear is fixedly sleeved at the end far from the crystal-breaking motor; A first middle shaft rotatably installed on the inner wall of one side of the cylindrical box, and a second bevel gear is fixedly sleeved at one end of the first middle shaft; A third bevel gear fixedly sleeved on the end of the cutter bar located inside the cylindrical box, and both the third bevel gear and the first bevel gear are meshed with the second bevel gear.

4. The intelligent pipeline crystal-breaking robot according to claim 3, characterized in that, An angle adjustment mechanism for adjusting the angle of the cutter bar is also assembled on the crystal-breaking mechanism, including: A first hinge block fixedly installed at the bottom of the connecting cylinder; A first electric telescopic rod hinged on the first hinge block, and the output rod of the first electric telescopic rod is hinged with a second hinge block fixed to the bottom of the square block; Among them, a sliding hole for the square block to penetrate is opened on the cylindrical box, arc-shaped sliding grooves are opened on both sides of the square block, and the inner walls of both sides of the sliding hole are in contact with and slidably connected to the inner walls of the two arc-shaped sliding grooves.

5. The intelligent pipeline crystal-breaking robot according to claim 1, wherein, A lifting adjustment assembly for lifting and adjusting the square frame is installed inside the housing, including: A mounting seat arranged inside the housing, a threaded rod is rotatably installed on the mounting seat and two limit sliding rods are fixedly installed, and the threaded rod and the two limit sliding rods are all arranged in parallel; A connecting seat sleeved on the threaded rod and threadedly connected with the threaded rod and slidably sleeved on the two limit sliding rods, and one side of the connecting seat is fixedly connected with one side of the square frame; Among them, the lifting adjustment assembly is equipped with a transmission mechanism for driving the rotation of the threaded rod to realize the movement of the connecting seat.

6. The intelligent pipeline crystal-breaking robot according to claim 5, characterized in that The transmission mechanism includes: A first support block fixed to one side of the mounting seat, and a second middle shaft parallel to the threaded rod is rotatably installed on the first support block; Two first straight gears respectively fixedly sleeved on one end of the second middle shaft and the threaded rod and meshed with each other; A third middle shaft rotatably installed on one side of the mounting seat, and fourth bevel gears are fixedly sleeved on one end of the third middle shaft and the second middle shaft respectively, and the two fourth bevel gears are meshed with each other; A second straight gear fixedly sleeved on one end of the third middle shaft.

7. The intelligent pipeline crystal-breaking robot according to claim 6, wherein, A linkage assembly for driving the second spur gear to rotate is installed on the cylindrical seat. The linkage assembly includes a cylindrical cylinder rotatably sleeved on the outer wall of the cylindrical seat through a bearing. An annular internal gear is fixedly installed on the inner wall of the cylindrical cylinder, and an annular external gear meshing with the second spur gear is fixedly sleeved on the outer wall of the cylindrical cylinder.

8. The intelligent pipeline crystal-breaking robot according to claim 7, wherein, The rotation assembly includes: a rotating shaft rotatably installed on the cylindrical seat and fixedly connected to one side of the mounting seat; a second support block fixedly installed on the inner wall of the cylindrical seat. A connecting shaft is rotatably installed on the second support block. One end of the connecting shaft is connected to the rotating shaft, and a first driving spur gear is fixedly sleeved on the other end; Wherein, an annular limiting groove is formed on the cylindrical seat, and a plurality of stable sliding blocks are fixedly installed on one side of the mounting seat. The plurality of stable sliding blocks are slidably connected to the inner wall of the annular limiting groove.

9. The intelligent pipeline crystal-breaking robot according to claim 1, wherein A mounting box is fixedly installed on one side of the housing, and a lithium battery for power supply is arranged in the mounting box.

10. The intelligent pipeline crystal-breaking robot according to claim 9, wherein, Cameras are assembled at the front end, top of the housing and the rear end of the mounting box to observe the crystallization situation in the pipeline.

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