CN103963054B - Vertical silo clears up robot - Google Patents
Vertical silo clears up robot Download PDFInfo
- Publication number
- CN103963054B CN103963054B CN201410188899.4A CN201410188899A CN103963054B CN 103963054 B CN103963054 B CN 103963054B CN 201410188899 A CN201410188899 A CN 201410188899A CN 103963054 B CN103963054 B CN 103963054B
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- China
- Prior art keywords
- platform
- robot
- hoist cable
- motor
- silo
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- Cleaning In General (AREA)
Abstract
Devise the robot that a kind of employing hang is moved.Robot is put in storehouse from the observation panel of silo roof by the way of hoist cable hangs, and reach cleaning position under gravity.When cleaning position is close to, robot is fixed on using umbrella shaped support mechanism for the relevant position of vertical silo.Pull the driving force produced with robot body gravity collective effect, position and attitude of the control robot in vertical silo simultaneously by steel wire rope.Hard hair brush is adopted in the end of robot arm, hairbrush is rotated under the drive of motor at a high speed during work, by hairbrush contact with hardened material, produce huge cutting force and hardened material is stripped down from hardened side wall, complete cleaning works.
Description
Technical field
According to the construction featuress of vertical silo, the cleaning robot that a kind of hoist cable hangs move mode is devised.Robot exists
Cleaning position is reached from vertical silo observation panel by steel wire rope hoisting mechanism under action of gravity.After cleaning position is close to, machine
The umbrella shaped support mechanism of people is fixed on robot on the relevant position of vertical silo.By the hairbrush of motor driving mechanical arm end
Rotate at a high speed, the huge cutting force produced after being contacted with grain boring is stripped down hardened from the wall of vertical silo side.
Background technology
Vertical silo is the basic equipment for storing, conveying and processing material, suitable for all kinds of bulks such as grain, cement
Material.It is high with mechanization degree, go out the features such as quick and easy, capacity is big of putting in storage, it is with the development of society, large-scale to produce
Industry needs large-scale vertical silo, and in recent years, China increases the construction of vertical silo Cang Chang.Although vertical silo has above-mentioned excellent
Point, but in vertical silo if material storage certain hour after, due to the effect of storehouse inside and outside temperature difference, material interior humidity etc., meeting
Hardened side wall or the top in vertical silo of some material.When the material in vertical silo needs to soar brings down stocks, these plates
The material of knot cannot flow to the bottom of vertical silo in the presence of self gravitation.On the one hand material quantity can be caused damage,
On the other hand, these hardened materials can be damaged inside silo some detecting instruments and equipment, can cause when serious vertical
Overall the toppling over of silo causes the even personnel's injury of great economic loss.
Vertical silo manner of cleaning up universal at present, mostly labor cleaning.It is but vertical silo is big compared with high and storehouse internal volume, artificial clear
Sweep and there is certain difficulty.During storage, some materials can discharge toxic gas in addition, be detrimental to health.In vertical silo
Dust concentration reach to a certain degree, can set off an explosion, or human body is buried by the material for coming off suddenly, cause workman the person wound
Evil.Under this rugged environment, using labor cleaning's inefficiency, and there is very big danger to human body.Must have one
Mobile Intelligent Robot is planted, the cleaning work of grain is completed.
The content of the invention
Low in order to solve labor cleaning's vertical silo efficiency, hidden danger is more, and climbing robot cannot be entered from bottom cleaning mechanism
Vertical silo.This mode for being designed with wire rope suspensioning is applied to vertical silo cleaning robot, replaces artificial, can be conveniently fast
Prompt entrance vertical silo, can carry out omnibearing cleaning to vertical silo, not stay any dead angle.
The scheme taken by its technical problem of solution of the invention is that the basic structure of cleaning robot is hoisting mechanism, is grasped
Make arm, connect the hoist cable of robot hoisting mechanism and motion arm, umbrella shaped support mechanism, and end cleaner.Hoisting mechanism position
In the top of robot, by motor, rotary shaft, sleeve and fixed platform composition, lifting motor is directly connected to and turns
Moving axis, by bearing phase between sleeve and rotary shaft, electric rotating machine acts on rotary shaft by sleeve.Hoisting mechanism is for by machine
People is stable inside vertical silo, and carries out the tune of position and attitude by electric rotating machine and lifting motor to vertically moving platform
Section.
Motion arm is located at the lower section of robot, is the major part of clean robot, by waist connecting rod, large arm, forearm with
And response joint and motor composition.Waist connecting rod end is connected to motion arm large arm, can control operation arm in low-angle
Inner circumferential rotates.The large arm other end is connected with forearm, and forearm end is equipped with end hoist cable motor, clear to adjust end
The height of reason device.Large arm and forearm are segmentation structure, and per segment length about 80cm or so, adjacent two sections are threadedly coupled using M10, energy
Enough free adjustment lengths.
Robot is sling by hoist cable using steel wire rope, and one section is fixed on hoisting mechanism, and other end connection vertically moves platform,
Scheme of the present invention using two parallel steel wire ropes, it is ensured that vertically move platform and keep enough under the drive of motor and stablize
Property, will not run-off the straight.Its main task is that the control by motor to suspension arm is delivered on motion arm, and control operation arm enters
Row rotary motion, carries out cleaning the structure design that the bulkhead for better meeting vertical silo is circular arc to vertical silo wall.
After umbrella shaped support mechanism deploying, contact with vertical tube silo wall, more effectively keep robot stabilized.End cleaner
For hard hair brush, during work, hairbrush is rotated under the drive of motor at a high speed, is produced after hairbrush is contacted with hardened material
Huge cutting force hardened material is stripped down from hardened side wall.
The invention has the beneficial effects as follows, may replace manually, work in hazardous environment, not by poison, the factor such as dust
Affect.Efficiency high, cleaning effect are good, adaptable to external conditions such as vertical silos.
Description of the drawings
Fig. 1 is the front view of robot of the present invention
Fig. 2 is the axonometric chart of hoisting mechanism in Fig. 1
Fig. 3 is the axonometric chart of motion arm in Fig. 1
The front view of Tu4Shi Tu1Zhong umbrella shaped supports mechanism
1-1. hoisting mechanisms 1-2. vertical silos gateway 1-3. hoist cable 1-4. umbrella shaped supports mechanism 1-5. vertical silos storehouse in Fig. 1
Wall 1-6. vertically moves platform 1-7. motion arm 1-8. ends hoist cable 1-9. ends cleaner
2-1. electric rotating machines 2-2. rotary shafts 2-3. sleeve 2-4. hoist cable 2-5. lifting motors in Fig. 2
3-1. forearms motor 3-2. motion arms large arm 3-3. waist connecting rod electric rotating machine 3-4. waist connecting rod 3- in Fig. 3
5. large arm motor 3-6. motion arms forearm 3-7. ends hoist cable motor
In Fig. 4,4-1. wheels 4-2. tightening mechanisms 4-3. bracing frame 4-4. vertically move platform 4-5. chutes
Specific embodiment
The rotation of the lifting motor 2-5 on hoisting mechanism, traction suspension rope 2-4 drive robot vertical mobile platform 1-6 to move
Dynamic, umbrella shaped support mechanism 1-4 and motion arm 1-7 is entered inside vertical silo from vertical silo gateway 1-2 in a contracted state.Hanging
Lifting motor 2-5 on mounting mechanism and position and the attitude under the collective effect of electric rotating machine 2-1, to vertically moving platform 1-6
It is adjusted.When vertically move platform 1-6 reach precalculated position, the bottom mobile terminal of bracing frame 4-3, in the presence of motor,
Along chute upward vertical movement, bracing frame 4-3 horizontal developments therewith are drawn, until the wheel 4-1 and vertical tube on tightening mechanism 4-2
Silo wall contact stretching, make to vertically move platform 1-6 stable inside vertical silo.Motion arm 1-7 is in large arm motor 3-5
Under driving with forearm motor 3-1, ad-hoc location is stretched over, end hoist cable motor 3-7 adjusts end hoist cable 1-8's
Length, makes hard hair brush 1-9 reach clear position, and hairbrush 1-9 is rotated under the drive of motor, at a high speed and occurred with hardened material
Contact, produces cutting force, hardened material is stripped down from hardened side wall 1-5.Under gravity, fall under material
The collection device of vertical silo bottom.Umbrella supporting mechanism 1-4 and motion arm 1-7 return to contraction state by deployed condition, so far
Complete a cleaning cycle.And next precalculated position is entered under the regulation of hoisting mechanism 1-1, carry out next cleaning week
Phase, until completing all cleanings, robot recovers contraction state, in the case where hoisting mechanism is reconciled by Hatch Opening disengaging vertical silo is entered, complete
Into cleaning work.
Claims (4)
1. a kind of hoist cable hangs the vertical silo cleaning robot of move mode, by hoisting mechanism, hoist cable, vertically moves platform, umbrella
Shape supporting mechanism, motion arm, end cleaning hairbrush composition, it is characterised in that hoisting mechanism is vertically moved flat by hoist cable connection
Platform, the umbrella shaped support mechanism are assemblied in and vertically move platform both sides, and motion arm is assemblied in and vertically moves below platform, by end
End hoist cable connection end cleaning hairbrush；The umbrella shaped support mechanism is symmetrical structure, by 2 structure identical bracing frames and support
Support frame as described above is vertically moved one end that platform contacts and is labeled as first end with described, by the support by tight mechanism's composition
One end that frame is contacted with the tightening mechanism is labeled as the second end, and the top of the first end vertically moves platform admittedly with described
Fixed to connect, the top at second end is fixedly connected with the tightening mechanism, in the presence of motor, the bottom of the first end
Can along vertically move open up on platform chute vertical movement, the bottom at second end can be opened on the tightening mechanism
If chute vertical movement, so as to drive support frame as described above the second end stretch or shrink；Wheel during expansion, on tightening mechanism
Contact with vertical tube silo wall and stretching, there is provided reaction of bearing, holding vertically moves position and attitude of the platform in silo, is allowed to work
Make more stable.
2. cleaning robot according to claim 1, it is characterised in that：The hoisting mechanism be equipped with electric rotating motivation and
Lifting motor, electric rotating motivation are connected with rotary shaft by sleeve, and by the rotation of electric rotating motivation, control vertically moves platform
Carry out circumferential rotation；Lifting motor is connected with hoist cable by rotary shaft, by the rotation for adjusting lifting motor, traction suspension rope
Folding and unfolding, so as to control to vertically move the shift position on platform vertical line direction and speed.
3. cleaning robot according to claim 1, it is characterised in that：Hoist cable adopts double-steel wire rope horizontally tracting, it is ensured that
The stability that platform keeps enough under the drive of motor is vertically moved, will not run-off the straight.
4. cleaning robot according to claim 1, it is characterised in that：The motion arm respectively by waist connecting rod, large arm,
Forearm, corresponding joint and motor and end hoist cable lifting motor composition；Large arm and forearm are segmentation structure, adjacent two
Duan Caiyong is threadedly coupled, and respectively its length can be adjusted；Waist connecting rod can rotate in a circumferential direction, mated ends hoist cable liter
Drop motor, need not change the position and attitude for vertically moving platform, by the local modulation to motion arm and hairbrush, just can be to certain
Bulkhead in one range areas is cleared up.
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 CN103963054A (en) | 2014-08-06 |
| CN103963054B true CN103963054B (en) | 2017-04-05 |
Family
ID=51233296
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 |
|---|---|
| CN (1) | CN103963054B (en) |
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| 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 |
| 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 |
| CN109129431B (en) * | 2018-10-09 | 2022-02-18 | 山东科技大学 | Large-scale coal bunker blockage cleaning 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 |
| CN114632730B (en) * | 2022-02-22 | 2023-05-19 | 盐城工业职业技术学院 | Robot for cleaning wall surface of chemical equipment |
| 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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|---|---|---|---|---|
| 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 |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
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2014
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102085523A (en) * | 2009-12-03 | 2011-06-08 | 武汉若比特机器人有限公司 | Pipeline detection cleaning robot |
| CN102513995A (en) * | 2011-12-09 | 2012-06-27 | 山东科技大学 | Cement storage tank cleaning manipulator |
Non-Patent Citations (2)
| Title |
|---|
| 中央空调垂直风管清洁机器人机构设计;曹毅 等;《机电产品开发与创新》;20081128;第21卷(第6期);第31页"机器人工作流程"以及图1,2 * |
| 悬挂立筒仓清洁机器人转动控制系统的仿真研究;刁伟华;《中国优秀硕士学位论文全文数据库》;20130215;第8-9页及图2-1 * |
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| Publication number | Publication date |
|---|---|
| CN103963054A (en) | 2014-08-06 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20210507 |