CN103963054A - Silo cleaning robot - Google Patents
Silo cleaning robot Download PDFInfo
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- CN103963054A CN103963054A CN201410188899.4A CN201410188899A CN103963054A CN 103963054 A CN103963054 A CN 103963054A CN 201410188899 A CN201410188899 A CN 201410188899A CN 103963054 A CN103963054 A CN 103963054A
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- robot
- silo
- hoist cable
- moving platform
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Abstract
The invention provides a silo cleaning robot which moves in a suspended mode. The robot is suspended through slings and placed into a silo from a viewing port in the top of the silo and reaches the portion to be cleaned under the effect of gravity. When the robot approaches the portion to be cleaned, an umbrella-shaped supporting mechanism is adopted to fix the robot to the corresponding position in the silo. The position and posture of the robot in the silo are controlled by means of driving force generated from combined action of pulling of a steel wire rope and the gravity of the robot. The tail end of a mechanical arm of the robot is provided with a hard hairbrush which is driven by a motor to rotate at a high speed in the working process; enormous cutting force generated from contact between the hairbrush and hardened materials strips the hardened materials away from a hardened sidewall, and then the cleaning operation is completed.
Description
Technical field
According to the design feature of vertical silo, design a kind of cleaning robot of hoist cable suspension move mode.Robot reaches cleaning position by steel wire rope hoisting mechanism from vertical silo observation panel under Action of Gravity Field.Approaching behind cleaning position, the umbrella shaped support mechanism of robot is fixed on robot on the relevant position of vertical silo.By the hairbrush High Rotation Speed of driven by motor mechanical arm tail end, the huge cutting force producing after contacting with grain will harden and boringly strip down from vertical silo sidewall.
Background technology
Vertical silo is the basic equipment for storage, conveying and material handling, is applicable to all kinds of loose unpacked materials such as grain, cement.There is mechanization degree high, quick and easy, the feature such as capacity is large that goes out to put in storage, along with social development, large-scale production industry needs large-scale vertical silo, and in recent years, China has strengthened the construction of vertical silo Cang Chang.Although vertical silo has above-mentioned advantage, if in vertical silo after material storage certain hour, due to storehouse inside and outside temperature difference, the effect of material interior humidity etc., understands sidewall or the top of some material plate knot at vertical silo.When the material in vertical silo need to soar while bringing down stocks, these materials that harden cannot be in the effect current downflow of self gravitation the bottom to vertical silo.Can cause damage to material quantity on the one hand, on the other hand, these materials that harden can damage some detecting instruments and the equipment of silo inside, can cause that toppling over of vertical silo entirety causes the even personnel's injury of great economic loss serious time.
General vertical silo manner of cleaning up, mostly is labor cleaning at present.But vertical silo is compared with high and storehouse internal volume is large, and hand sweeping exists certain difficulty.In storage process, some material can discharge toxic gas in addition, is detrimental to health.Dust concentration in vertical silo acquires a certain degree, and can set off an explosion, or the material coming off suddenly buries human body, causes workman's personal injury.Under this rugged environment, adopt labor cleaning's inefficiency, and human body is had to very large danger.Must there is a kind of Mobile Intelligent Robot, complete the cleaning work of grain.
Summary of the invention
Low in order to solve labor cleaning's vertical silo efficiency, hidden danger is many, and climbing robot cannot enter vertical silo from bottom cleaning mechanism.This design adopts the mode of wire rope suspensioning to be applied to vertical silo cleaning robot, replaces manually, can conveniently enter vertical silo, can carry out omnibearing cleaning to vertical silo, does not stay any dead angle.
The present invention solves the scheme that its technical problem takes, and the basic structure of cleaning robot is hoisting mechanism, and motion arm connects the hoist cable of robot hoisting mechanism and motion arm, umbrella shaped support mechanism, and end cleaner.Hoisting mechanism is positioned at the top of robot, by drive motors, and turning cylinder, sleeve and fixed platform composition, lifting motor directly connects and turning cylinder, and between sleeve and turning cylinder, by bearing phase, electric rotating machine acts on turning cylinder by sleeve.Hoisting mechanism for by robot stabilized in vertical silo inside, and vertical sliding moving platform is carried out to the adjusting of position and attitude by electric rotating machine and lifting motor.
Motion arm is positioned at the below of robot, is the major part of clean robot, by waist connecting rod, and large arm, forearm and response joint and drive motors composition.Waist connecting rod end is connected in the large arm of motion arm, can in low-angle, rotate in a circumferential direction by control operation arm.The large arm other end is connected with forearm, and forearm end is equipped with end hoist cable drive motors, in order to regulate the height of end cleaner.Large arm and forearm are segmentation structure, the about 80cm of every segment length left and right, and adjacent two sections adopt M10 to be threaded, can free adjustment length.
Hoist cable adopts steel wire rope that robot is sling, one section is fixed on hoisting mechanism, and the other end connects vertical sliding moving platform, and the present invention adopts the scheme of two parallel steel wire ropes, ensure that vertical sliding moving platform keeps enough stability under the drive of motor, can run-off the straight.Its main task is that motor is delivered on motion arm the control of suspension arm, and control operation arm is rotated, and vertical silo wall is cleaned and better meets the structural design that the bulkhead of vertical silo is circular arc.
After umbrella shaped support mechanism deploying, contact with vertical silo bulkhead, more effective maintenance is robot stabilized.End cleaner is hard hair brush, hairbrush High Rotation Speed under the drive of drive motors when work, and the huge cutting force producing after contacting with the material that hardens by hairbrush strips down the material that hardens from the sidewall hardening.
The invention has the beneficial effects as follows, can replace manually, in hazardous environment, work, be not subject to poison gas, the impact of the factors such as dust.Efficiency is high, and cleaning effect is good, adaptable to external conditions such as vertical silos.
Brief description of the drawings
The front view of Tu1Shi robot of the present invention
Fig. 2 is the stereogram of hoisting mechanism in Fig. 1
Fig. 3 is the stereogram of motion arm in Fig. 1
The front view of Tu4Shi Tu1Zhong umbrella shaped support mechanism
1. hoisting mechanism 2. vertical silo gateway 3. hoist cable 4. umbrella shaped support mechanism 5. vertical silo bulkheads in Fig. 1
6. vertical sliding moving platform 7. motion arm 8. end hoist cable 9. end cleaners
1. electric rotating machine 2. turning cylinder 3. sleeve 4. hoist cable 5. lifting motors in Fig. 2
The large arm drive motors 6. motion arm forearm 7. end hoist cable drive motors of the 1. forearm drive motors large arm 3. waist connecting rod electric rotating machine 4. waist connecting rod 5. of 2. motion arm in Fig. 3
1. wheel 2. tightening mechanism 3. bracing frame 4. vertical sliding moving platform 5. chutes in Fig. 4
Detailed description of the invention
The rotation of lifting motor 2-5 on hoisting mechanism, traction suspension rope 2-4 drives robot vertical mobile platform 1-6 to move, and the 1-4 of umbrella shaped support mechanism and motion arm 1-7 enter vertical silo inside from vertical silo import 1-2 under contraction state.On hoisting mechanism, under the acting in conjunction of lifting motor 2-5 and electric rotating machine 2-1, position and the attitude of vertical sliding moving platform 1-6 are adjusted.When vertical sliding moving platform 1-6 arrives precalculated position, the mobile terminal, bottom of bracing frame 4-3, under the effect of motor, move vertically upward along chute, traction bracing frame 4-3 horizontal development thereupon, until the wheel 4-1 on tightening mechanism 4-2 contacts with vertical silo bulkhead and stretching, make vertical sliding moving platform 1-6 be stabilized in vertical silo inside.Motion arm 1-7 is under the driving of large arm drive motors 3-5 and forearm drive motors 3-1, be stretched over ad-hoc location, end hoist cable drive motors 3-7 regulates the length of end hoist cable 1-8, make hard hair brush 1-9 arrive clear position, hairbrush 1-9 is under the drive of motor, High Rotation Speed also comes in contact with the material that hardens, and produces cutting force, and by hardening, material strips down from the sidewall 1-5 hardening.Under the effect of gravity, material drops to the gathering-device of vertical silo bottom.The 1-4 of umbrella supporting mechanism and motion arm 1-7 return to contraction state by deployed condition, so far complete a cleaning cycle.And under the adjusting of hoisting mechanism 1-1, enter next precalculated position, and carry out next cleaning cycle, until complete all cleanings, robot recovers contraction state, under hoisting mechanism is reconciled, departs from vertical silo by warehouse entry mouth, completes cleaning work.
Claims (5)
1. the vertical silo cleaning robot of a hoist cable suspension move mode, by hoisting mechanism, hoist cable, vertical sliding moving platform, umbrella shaped support mechanism, motion arm, end cleaner composition, is characterized in that, hoisting mechanism connects mobile platform by hoist cable, supporting mechanism is assemblied in vertical sliding moving platform both sides, and motion arm is assemblied in mobile platform below, connects end cleaning hairbrush by hoist cable.
2. cleaning according to claim 1 robot, it is characterized in that: described hoisting mechanism is equipped with turning motor and lifting motor, turning motor is connected with turning cylinder by sleeve, by the rotation of motor, controls vertical sliding moving platform and carries out circumferential rotation; Lifting motor is connected with hoist cable by turning cylinder, by regulating the rotation of motor, and the folding and unfolding of traction suspension rope, thus control shift position and the speed in vertical sliding moving platform vertical line direction.
3. cleaning according to claim 1 robot, is characterized in that: hoist cable adopts double-steel wire rope horizontally tracting, ensures that vertical sliding moving platform keeps enough stability under the drive of motor, can run-off the straight.
4. cleaning according to claim 1 robot, is characterized in that: described motion arm respectively by can waist connecting rod, large arm, forearm, corresponding joint and drive motors and end hoist cable lifting motor form; Waist connecting rod, large arm and forearm are segmentation structure, and employing is threaded, and can regulate its length respectively; Waist connecting rod can rotate in a circumferential direction in low-angle, and mated ends hoist cable lifting motor need not change the position and attitude of vertical sliding moving platform, by the local modulation to motion arm and hairbrush, just can clear up the bulkhead in a certain scope region.
5. cleaning according to claim 1 robot, it is characterized in that: described umbrella shaped support mechanism is symmetrical structure, formed by 2 identical bracing frame and tightening mechanisms of structure, vertical sliding moving platform is fixed in one end of bracing frame, and bottom has chute, under the effect of motor, can move in vertical direction, thereby drive the other end of support to stretch or shrink; When expansion, the wheel on tightening mechanism contacts with vertical silo bulkhead and stretching, provides support counter-force, keeps the position and attitude of vertical sliding moving platform in silo, makes it work more stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410188899.4A CN103963054B (en) | 2014-05-07 | 2014-05-07 | Vertical silo clears up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410188899.4A CN103963054B (en) | 2014-05-07 | 2014-05-07 | Vertical silo clears up robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103963054A true CN103963054A (en) | 2014-08-06 |
| CN103963054B CN103963054B (en) | 2017-04-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410188899.4A Expired - Fee Related CN103963054B (en) | 2014-05-07 | 2014-05-07 | Vertical silo clears up robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN103963054B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173794A (en) * | 2015-09-14 | 2015-12-23 | 中国矿业大学 | Rocker arm type bunker cleaning machine for clearing away accumulated coal in bunker and cleaning method of rocker arm type bunker cleaning machine |
| CN105438668A (en) * | 2015-12-17 | 2016-03-30 | 杭州国辰机器人科技有限公司 | Climbing warehouse cleaning device |
| CN106628214A (en) * | 2017-02-28 | 2017-05-10 | 田悦丰 | Unmanned aerial vehicle used for mineral radioactivity detection and application thereof |
| CN109129431A (en) * | 2018-10-09 | 2019-01-04 | 山东科技大学 | A kind of large size coal bunker block clearing robot |
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
| CN110434861A (en) * | 2019-07-04 | 2019-11-12 | 中信重工机械股份有限公司 | Robot arm device is used in a kind of cleaning of granular material storage cavern |
| CN111661503A (en) * | 2020-07-14 | 2020-09-15 | 广州市泰恩自动化设备有限公司 | Automatic cleaning device of silo |
| CN111745663A (en) * | 2020-06-12 | 2020-10-09 | 安徽聚力粮机科技股份有限公司 | Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence |
| CN112936238A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Ground coal bunker cleaning robot and using method thereof |
| CN112936248A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Rigid-flexible coupling mechanical arm for cleaning ground coal bunker and use method thereof |
| CN114055493A (en) * | 2021-11-23 | 2022-02-18 | 北京华能新锐控制技术有限公司 | Coal bunker cleaning robot |
| CN114056447A (en) * | 2021-11-22 | 2022-02-18 | 北京华能新锐控制技术有限公司 | Movable fixed trolley of warehouse cleaning robot |
| CN114632730A (en) * | 2022-02-22 | 2022-06-17 | 盐城工业职业技术学院 | Robot for cleaning wall surface of chemical equipment |
| CN117718987A (en) * | 2024-02-18 | 2024-03-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
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| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
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2014
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| US3599871A (en) * | 1969-07-08 | 1971-08-17 | Goodrich Co B F | Jet spray tank cleaner |
| GB1389284A (en) * | 1971-04-22 | 1975-04-03 | Programmed & Remote Syst Corp | Vessel inspection device |
| CN1919478A (en) * | 2006-06-01 | 2007-02-28 | 北京九鼎绿环科技有限公司 | Railway tank car cleaning robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105173794B (en) * | 2015-09-14 | 2018-11-06 | 中国矿业大学 | A kind of rocker-arm coal bunker product coal conveyer for emptying warehouse and its method for cleaning |
| CN105173794A (en) * | 2015-09-14 | 2015-12-23 | 中国矿业大学 | Rocker arm type bunker cleaning machine for clearing away accumulated coal in bunker and cleaning method of rocker arm type bunker cleaning machine |
| CN105438668A (en) * | 2015-12-17 | 2016-03-30 | 杭州国辰机器人科技有限公司 | Climbing warehouse cleaning device |
| CN105438668B (en) * | 2015-12-17 | 2018-06-08 | 杭州国辰机器人科技有限公司 | Climb clear library device |
| CN106628214A (en) * | 2017-02-28 | 2017-05-10 | 田悦丰 | Unmanned aerial vehicle used for mineral radioactivity detection and application thereof |
| CN109129431A (en) * | 2018-10-09 | 2019-01-04 | 山东科技大学 | A kind of large size coal bunker block clearing robot |
| CN109366473A (en) * | 2018-12-10 | 2019-02-22 | 武汉三江航天远方科技有限公司 | Sunken tankers liner automatic improving device |
| CN110434861A (en) * | 2019-07-04 | 2019-11-12 | 中信重工机械股份有限公司 | Robot arm device is used in a kind of cleaning of granular material storage cavern |
| CN111745663A (en) * | 2020-06-12 | 2020-10-09 | 安徽聚力粮机科技股份有限公司 | Grain depot is patrolled and examined robot camera adjustable mechanism with intelligence |
| CN111661503A (en) * | 2020-07-14 | 2020-09-15 | 广州市泰恩自动化设备有限公司 | Automatic cleaning device of silo |
| CN112936238A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Ground coal bunker cleaning robot and using method thereof |
| CN112936248A (en) * | 2021-03-09 | 2021-06-11 | 辽宁工程技术大学 | Rigid-flexible coupling mechanical arm for cleaning ground coal bunker and use method thereof |
| CN114056447A (en) * | 2021-11-22 | 2022-02-18 | 北京华能新锐控制技术有限公司 | Movable fixed trolley of warehouse cleaning robot |
| CN114055493A (en) * | 2021-11-23 | 2022-02-18 | 北京华能新锐控制技术有限公司 | Coal bunker cleaning robot |
| CN114632730A (en) * | 2022-02-22 | 2022-06-17 | 盐城工业职业技术学院 | Robot for cleaning wall surface of chemical equipment |
| CN117718987A (en) * | 2024-02-18 | 2024-03-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
| CN117718987B (en) * | 2024-02-18 | 2024-04-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
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| CN103963054B (en) | 2017-04-05 |
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