CN111218960A

CN111218960A - Cement silo bottom cleaning robot and cleaning method

Info

Publication number: CN111218960A
Application number: CN202010276316.9A
Authority: CN
Inventors: 张洪; 熊斌; 李勇军; 谭军
Original assignee: Yibin Steel Cat Technology Co Ltd
Current assignee: Yibin Steel Cat Technology Co Ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2020-06-02

Abstract

The invention discloses a cement silo bottom cleaning robot and a cleaning method, wherein the robot comprises a walking mechanism, a lifting mechanism and a lifting mechanism, wherein the walking mechanism is used for driving the robot to walk; the rocker arm is arranged at the upper end of the travelling mechanism and drives the pneumatic pick to operate; and a push shovel arranged at the front end of the travelling mechanism. The device has a small structure, can enter a cement silo, the walking mechanism control device moves forwards and backwards and turns a corner, the push shovel is arranged at the front end to loosen cement blocks condensed on the ground, and the pneumatic pick on the rocker arm loosens cement on the wall, so that manpower is replaced to shovel soil, time and labor are saved, and the efficiency is greatly improved; the walking mechanism is of a crawler type and can walk in a cement land without hindrance; the push shovel is hinged and controlled to swing through the air cylinder, so that cement on the ground is dug, and the push shovel is more effective than pushing; set up the supporting leg, the supporting leg can turn over ground down, supports on ground, perhaps can also paste on the wall, has increased the friction area, and the device during operation is difficult to appear rocking or skidding.

Description

Cement silo bottom cleaning robot and cleaning method

Technical Field

The invention relates to the technical field of automatic machinery, in particular to a cement silo bottom cleaning robot and a cleaning method.

Background

Because the cement in the cement warehouse is powdery, after the cement warehouse is used for a period of time, the powdery cement is easy to bond the inner wall, the wall hanging materials and the bottom of the warehouse are formed, and the attachments are thicker and thicker along with the increase of the time, so that the volume of the cement warehouse is reduced, namely the use efficiency of the cement warehouse is lowered. Sometimes, the materials fall off automatically and become blocks or sheets with different sizes to be mixed in cement powder, a feeder is blocked by a light person, a heavy person forms an arch on a funnel in the warehouse, the materials are overhead and cannot be discharged, the material is cut off and the production is stopped, and in order to ensure the system production of an enterprise, the enterprise must carry out warehouse cleaning operation regularly at regular time.

At present, the method for cleaning the bottom of the cement silo mainly adopts a mode of manually assisting with tools, the method has low efficiency of cleaning the silo, high cost of time and labor, easy safety accidents and quite high danger degree; the environment in the cement silo is severe, great potential safety hazards exist, and fewer workers are willing to engage in the silo cleaning work. Due to the structural problem of the existing cement silo and the severe working environment inside the cement silo, the existing large-scale equipment is difficult to enter the bottom of the cement silo and carry out effective operation.

Disclosure of Invention

The invention aims to provide a cement silo bottom cleaning robot and a cleaning method, which are used for solving the defects of low silo cleaning efficiency, high labor cost and long silo cleaning time in the process of cleaning a cement silo.

In order to achieve the purpose, the technical scheme of the invention is that the cement silo bottom cleaning robot comprises a walking mechanism, a lifting mechanism and a lifting mechanism, wherein the walking mechanism is used for driving the robot to walk;

the device comprises a walking mechanism, a rocker arm, a driving mechanism, a control mechanism and a control system, wherein the rocker arm is arranged at the upper end of the walking mechanism and comprises a large arm, a small arm and a pneumatic pick, the large arm is arranged on the walking mechanism through a rocker arm rotating base, the rocker arm rotating base is driven to rotate by a rocker arm device rotating motor, the large arm is hinged with the rocker arm rotating base and is controlled to turn through a large arm power motor of the rocker arm rotating base, the turning surface of the large arm is vertical to the rotating surface of the rocker arm rotating base, the small arm is hinged with the large arm and is controlled to turn through a small arm driving cylinder arranged on the large arm, and the pneumatic;

and a push shovel arranged at the front end of the travelling mechanism.

The walking mechanism comprises a chassis, a walking crawler arranged below the chassis and a crawler driving power assembly for driving the walking crawler to walk.

The crawler driving power assembly comprises two groups of control components, the two groups of control components respectively control the walking crawlers positioned on the left side and the right side of the lower end face of the chassis, the control components comprise control motors and speed changers, and the control motors control the rollers in the walking crawlers to rotate through the speed changers.

Still be provided with supporting mechanism on the running gear, supporting mechanism including setting up two folding supporting legs at the running gear front and back end respectively, folding supporting leg is including fixing the supporting seat on running gear to and set up the supporting leg in the supporting seat both sides, the supporting leg is articulated with the supporting seat, and stirs through the drive of support driver.

The support driver comprises a support driving cylinder, the cylinder body of the support driving cylinder is hinged to the supporting seat, a cylinder rod of the support driving cylinder is connected to the supporting leg, and the hinge point of the support driving cylinder and the supporting seat is located right above the hinge point of the supporting leg and the supporting seat.

The cross section of the push shovel is L-shaped, at least two points are arranged on the outer corner line of the push shovel and hinged with the traveling mechanism, the upper end face of the push shovel is further hinged with a cylinder rod of the push shovel driving cylinder, a cylinder body of the push shovel driving cylinder is hinged on the traveling mechanism, and the push shovel driving cylinder controls the push shovel to enable the push shovel to do swinging motion along the outer corner line of the push shovel.

A cement reservoir bottom cleaning method comprises the following steps:

step 1: the cleaning robot enters the bottom of the cement silo through the traveling mechanism, and the pushing shovel shovels and loosens the cement coagulated blocks on the ground and pushes the cement coagulated blocks to a cement discharge opening or a discharge opening;

step 2: controlling the rocker arm to drive the air pick to move, knocking the cement concretion block on the wall of the cement reservoir and enabling the cement concretion block to fall to the bottom of the reservoir;

and step 3: pushing the cement blocks falling to the bottom of the silo to a cement discharge opening or a discharge opening by a push shovel;

and 4, step 4: repeating the steps, and finally cleaning the cement concretion on the wall of the cement reservoir, particularly on the bottom of the reservoir.

The invention has the following advantages:

(1) the device has a small structure, can enter a cement silo, the walking mechanism control device moves forwards and backwards and turns, the push shovel is arranged at the front end to loosen cement blocks condensed on the ground, the rocker arm can rotate 360 degrees to loosen cement on the wall, so that manpower is replaced for shoveling soil, time and labor are saved, and the efficiency is greatly improved;

(2) the walking mechanism of the device is crawler-type, and can walk in cement land without hindrance;

(3) the push shovel of the device is hinged and controlled to swing through the air cylinder, so that the device can dig cement on the ground more effectively than pushing;

(4) this device sets up the supporting leg, and the supporting leg can turn over down ground, supports on ground, perhaps can also paste on the wall, has increased the friction area, and the device during operation is difficult to appear rocking or skidding.

Drawings

FIG. 1 is a schematic structural view of example 1;

FIG. 2 is a schematic structural view of a traveling mechanism according to embodiment 1;

FIG. 3 is an enlarged view of the direction A in FIG. 2;

FIG. 4 is a schematic view showing the attachment of a blade according to embodiment 2;

FIG. 5 is a schematic structural view of example 3;

fig. 6 is an enlarged view of the direction B in fig. 5.

Detailed Description

The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Example 1

As shown in fig. 1-3, the cement silo bottom cleaning robot comprises a traveling mechanism 1 for driving the robot to travel;

the rocker arm 4 is arranged at the upper end of the travelling mechanism 1, the rocker arm 4 comprises a large arm 403, a small arm 405 and a pneumatic pick 407, the large arm 403 is installed on the travelling mechanism 1 through a rocker arm rotating base 401, the rocker arm rotating base 401 is driven to rotate by a rocker arm device rotating motor 104, the large arm 403 is hinged with the rocker arm rotating base 401 and is controlled to turn through a large arm power motor 402 of the rocker arm rotating base 401, the turning surface of the large arm 403 is vertical to the rotating surface of the rocker arm rotating base 401, the small arm 405 is hinged with the large arm 403 and is controlled to turn through a small arm driving cylinder 404 installed on the large arm 403, and the pneumatic pick 407 is hinged with the small arm 405 and is controlled to turn through a pneumatic pick driving cylinder 406 installed on the small arm 405;

and a push shovel 3 arranged at the front end of the walking mechanism 1.

The travelling mechanism 1 comprises a chassis 103, a travelling crawler 101 arranged below the chassis 103, and a crawler driving power assembly 102 for driving the travelling crawler 101 to travel.

The track driving power assembly 102 comprises two groups of control components 105, the two groups of control components 105 respectively control the walking tracks 101 positioned on the left side and the right side of the lower end surface of the chassis 103, the control components 105 comprise control motors 106 and a speed changer 107, and the control motors 106 control the rollers in the walking tracks 101 to rotate through the speed changer 107.

The running gear 1 is used for advancing, retreating and turning the device, can be a wheel type, but the wheel type runs on a sand-like ground unlike a crawler type, so that the embodiment adopts a crawler type running gear, double crawler belts are respectively driven by a motor and a speed changer, the crawler belts are the prior art, the structure is that the rollers drive the crawler belts covered on the roller group to run in a transmission way, the running and turning are common knowledge, and if the device needs to advance or retreat, the speed is the same; when steering is needed, the crawler belts on the two sides can steer due to inconsistent speeds, and the detailed description is omitted here. Roller train includes one and moves gyro wheel and a brace table in this embodiment, and the brace table is roughly square, and one side of moving the gyro wheel dorsad then is a semicircle, and the track covers outside both profiles that form, and the track reduces the friction through the form of embedded ball with the part of brace table contact to can fix a position, set up the draw-in groove on the track, move and set up on the gyro wheel with draw-in groove complex arch, make and move the gyro wheel and drive the track when rolling.

The device shovels a cement coagulation block on the ground through the push shovel 3, mainly shovels the cement coagulation block during walking, the cement coagulation block on the wall mainly passes through the rocker arm 4, the pneumatic pick 407 is arranged on the rocker arm 4, the pneumatic pick 407 is the prior art, a piston is arranged in the device, compressed air drives the piston to move back and forth, and the piston drives the pick to move back and forth to strike the cement coagulation block.

The rocker arm 4 can drive the pneumatic pick 407 to move, the rocker arm 4 is driven by the rocker arm device rotating motor 104 to rotate 360 degrees, the rocker arm device rotating motor 104 is fixed on the chassis 103, the rocker arm 4 is divided into a large arm 403, a small arm 405 and the pneumatic pick 407, like an arm, one end of the large arm 403 is installed on the rocker arm rotating base 401 through a large arm shaft, the large arm shaft is driven to rotate through the large arm power motor 402, the large arm 403 is fixedly connected with the large arm shaft, so that the large arm 403 is driven to rotate, a baffle is arranged on the rotating path of the large arm 403 on the rocker arm rotating base 401, and the rotating angle of the large arm 403 is 0-85 degrees.

One end of the small arm 405 is hinged to one end of the large arm 403 far away from the rocker arm rotating base 401, the large arm 403 is provided with a U-shaped part at the end, a hinged point is located at the opening of the U-shaped part, the hinged point on the small arm 405 is not arranged at the tail end, but an operating section is reserved, a cylinder rod of the small arm driving air cylinder 404 is hinged to the operating section, the body of the small arm driving air cylinder 404 is hinged to the large arm 403, and the small arm 405 is driven to rotate and can turn over within the range of 35-158 degrees by pushing the operating section.

The pick tail end of the pneumatic pick 407 is hinged to one end of the small arm 405 far away from the operation section, the cylinder body of the pneumatic pick driving cylinder 406 is hinged to the small arm 405, the cylinder rod is hinged to the side of the pneumatic pick 407, namely, two hinged points on the pneumatic pick 407 have a certain distance, so that the cylinder can drive the pneumatic pick 407 to rotate in a small range, and the angle is 0-45 degrees.

By the above adjustment, the air pick 407 can be flexibly moved to a set position to perform an operation.

The embodiment provides a method for cleaning a cement reservoir bottom, which comprises the following steps:

step 1: the cleaning robot enters the bottom of the cement silo through the traveling mechanism, and the push shovel 3 shovels and loosens the cement coagulated blocks on the ground and pushes the cement coagulated blocks to a cement discharge opening or a discharge opening;

step 2: the rocker arm 4 is controlled to drive the pneumatic pick 407 to move, so that cement concreting blocks on the wall of the cement silo are knocked and fall to the bottom of the silo;

and step 3: the push shovel 3 pushes the cement blocks falling to the bottom of the silo to a cement discharge opening or a discharge opening;

Example 2

As shown in fig. 4, in this embodiment, based on embodiment 1, the cross section of the blade 3 is L-shaped, at least two points are arranged on the outer corner line of the blade 3 and are hinged to the traveling mechanism 1, the upper end surface of the blade 3 is also hinged to the cylinder rod of the blade driving cylinder 301, the cylinder body of the blade driving cylinder 301 is hinged to the traveling mechanism 1, and the blade driving cylinder 301 controls the blade 3 so that the blade 3 makes a swinging motion along the outer corner line thereof.

Push away on shovel 3 is connected to two connecting rods on the chassis 103, push away the outer corner line on the shovel 3 and all articulate with two connecting rods for push away shovel 3 and rotate for the axis of rotation with the outer corner line, the top sets up one and pushes away shovel drive cylinder 301 and promote and push away shovel 3, makes and pushes away shovel 3 and is the swing motion, thereby does the shovel operation to the cement coagulation piece on ground.

Example 3

As shown in fig. 5 and fig. 6, in this embodiment, on the basis of embodiment 2, the traveling mechanism 1 is further provided with a supporting mechanism 2, the supporting mechanism 2 includes two folding supporting legs 201 respectively disposed at the front and rear ends of the traveling mechanism 1, the folding supporting legs 201 include a supporting base 202 fixed on the traveling mechanism 1 and supporting legs 203 disposed at both sides of the supporting base 202, and the supporting legs 203 are hinged to the supporting base 202 and driven to turn over by a supporting driver 204.

The support driver 203 comprises a support driving air cylinder 205, the cylinder body of the support driving air cylinder 205 is hinged with the support base 202, the cylinder rod of the support driving air cylinder 205 is connected to the support leg 203, and the hinged point of the support driving air cylinder 205 and the support base 202 is positioned right above the hinged point of the support leg 203 and the support base 202.

The supporting legs 203 are pushed by the supporting driving cylinders 205 to rotate, the rotating range is 66-163 degrees, when the supporting legs rotate to 90 degrees, the supporting legs are in a horizontal position and can be supported on a wall to increase friction, when the supporting legs rotate to 163 degrees, the supporting legs can contact the ground and increase friction, and therefore when the pushing shovel 3 or the rocker arm 4 works, the machine is not easy to slip and shake.

Example 4

In this embodiment, on the basis of embodiment 3, the chassis 103 is provided with a control mechanism, the control mechanism includes a controller and a signal transceiver, the controller is a processor of model LPC1765FBD100 and is suitable for the work of any mechanical arm, and the signal transceiver is a wireless signal transceiver module and is of model RFM 219B. Both the processor and the wireless signal transceiver module are the prior art, and not in the protection scope of the present embodiment, the present embodiment mainly controls each electronic device, such as the control motor 106, the transmission 107, the support driving cylinder 205, the blade driving cylinder 301, and all the electronic devices on the swing arm 4, through the controller, so that the operator can remotely control the machine.

Of course, the device can also be connected with a control box through an operator to follow the controller, the control box is connected with switches of all electronic instruments, and the operation of the device, such as walking, movement and operation of the rocker arm 4, turning of the push shovel and the like, is controlled through the control box.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The cement silo bottom cleaning robot is characterized by comprising a walking mechanism (1) for driving the robot to walk;

the rocker arm (4) is arranged at the upper end of the traveling mechanism (1), the rocker arm (4) comprises a large arm (403), a small arm (405) and an air pick (407), the large arm (403) is installed on the traveling mechanism (1) through a rocker arm rotating base (401), the rocker arm rotating base (401) is driven to rotate by a rocker arm device rotating motor (104), the large arm (403) is hinged to the rocker arm rotating base (401) and is controlled to turn through a large arm power motor (402) of the rocker arm rotating base (401), the turning surface of the large arm (403) is perpendicular to the rotating surface of the rocker arm rotating base (401), the small arm (405) is hinged to the large arm (401) and is controlled to turn through a small arm driving cylinder (404) installed on the large arm (403), and the air pick (407) is hinged to the small arm (405) and is controlled to turn through an air pick driving cylinder (406) installed on the small arm (405);

and a push shovel (3) arranged at the front end of the walking mechanism (1).

2. The cement silo bottom cleaning robot as claimed in claim 1, wherein the travelling mechanism (1) comprises a chassis (103), a travelling crawler (101) arranged below the chassis (103), and a crawler driving power assembly (102) for driving the travelling crawler (101) to travel.

3. The cement silo bottom cleaning robot as claimed in claim 2, wherein the track driving power assembly (102) comprises two groups of control assemblies (105), the two groups of control assemblies (105) respectively control the walking tracks (101) on the left side and the right side of the lower end face of the chassis (103), the control assemblies (105) comprise control motors (106) and speed changers (107), and the control motors (106) control the rotation of rollers in the walking tracks (101) through the speed changers (107).

4. The cement silo bottom cleaning robot as claimed in claim 1 or 2, wherein the traveling mechanism (1) is further provided with a supporting mechanism (2), the supporting mechanism (2) comprises two folding supporting legs (201) respectively arranged at the front end and the rear end of the traveling mechanism (1), the folding supporting legs (201) comprise a supporting seat (202) fixed on the traveling mechanism (1) and supporting legs (203) arranged at two sides of the supporting seat (202), and the supporting legs (203) are hinged to the supporting seat (202) and driven to turn through a supporting driver (204).

5. The cement silo bottom cleaning robot as claimed in claim 4, characterized in that the support driver (203) comprises a support driving cylinder (205), the cylinder body of the support driving cylinder (205) is hinged with the support base (202), the cylinder rod thereof is connected to the support leg (203), and the hinge point of the support driving cylinder (205) and the support base (202) is positioned right above the hinge point of the support leg (203) and the support base (202).

6. The cement silo bottom cleaning robot according to claim 1, wherein the cross section of the push shovel (3) is L-shaped, at least two points arranged on the outer corner line of the push shovel (3) are hinged with the traveling mechanism (1), the upper end face of the push shovel (3) is further hinged with a cylinder rod of the push shovel driving cylinder (301), the cylinder body of the push shovel driving cylinder (301) is hinged on the traveling mechanism (1), and the push shovel driving cylinder (301) controls the push shovel (3) to enable the push shovel (3) to perform swinging motion along the outer corner line of the push shovel (3).

7. The method for cleaning the bottom of the cement silo is characterized by comprising the following steps of:

step 1: the cleaning robot enters the bottom of the cement silo through the traveling mechanism, and the pushing shovel (3) shovels and loosens the cement coagulated blocks on the ground and pushes the cement coagulated blocks to a cement discharge opening or a discharge opening;

step 2: the control rocker arm (4) drives the air pick (407) to move, and the cement concreting block on the wall of the cement silo is knocked and falls to the bottom of the silo;

and step 3: the push shovel (3) pushes the cement blocks falling to the bottom of the silo to a cement discharge opening or a discharge opening;