CN106807655A - It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash - Google Patents
It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash Download PDFInfo
- Publication number
- CN106807655A CN106807655A CN201710041441.XA CN201710041441A CN106807655A CN 106807655 A CN106807655 A CN 106807655A CN 201710041441 A CN201710041441 A CN 201710041441A CN 106807655 A CN106807655 A CN 106807655A
- Authority
- CN
- China
- Prior art keywords
- robot
- push rod
- down stocks
- bringing down
- side push
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000005183 dynamical system Methods 0.000 claims abstract description 15
- 239000002956 ash Substances 0.000 claims description 21
- 239000003818 cinder Substances 0.000 claims description 4
- 239000003245 coal Substances 0.000 claims description 4
- 239000010883 coal ash Substances 0.000 claims description 4
- 239000012141 concentrate Substances 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000004568 cement Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 239000004071 soot Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
- B08B1/165—Scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The present invention is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, belongs to the technical field of silo SUPPLEMENTARY UNLOADING GRAIN and method；Technical problem to be solved is：There is provided a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, solves the problems, such as that the local knot ash of bulkhead is high with manual cleaning difficulty Risks；The technical scheme for using for：It is a kind of for clear up silo bulkhead knot ash bring down stocks robot, including robot body, dynamical system, deashing mechanism, guiding mechanism, the dynamical system and guiding mechanism are arranged relative to robot body's axial symmetry, the deashing mechanism is arranged at the top of robot body, the robot body includes front side push rod, preceding push rod, body frame, rear side push rod, the dynamical system includes explosion-proof air motor and rubber belt track, the deashing mechanism includes deashing blade and connecting plate, and the guiding mechanism includes deflecting roller, front jockey wheel and rear directive wheel；Suitable for colliery and cement field.
Description
Technical field
The present invention is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, belongs to silo SUPPLEMENTARY UNLOADING GRAIN
With the technical field of method.
Background technology
The problem of silo bulkhead knot ash is very common, and ash is tied in storehouse can decline warehouse space, influence the normal reserves of silo, mesh
Before there are various methods to solve this problem, such as install air bubble, vibrator, acoustic wave soot blower, these methods are all from big face
The thinking of product removal knot ash solves the grey problem of knot, can only temporarily solve the problems, such as bulkhead knot ash, it is impossible to fundamentally by solution
Certainly.If above method can not effectively solve to tie grey problem, manufacturer often goes cleaning by way of artificial cleaning
The coal cinder or knot ash on bulkhead are concentrated at, but can usually be collapsed because of coal ash on bulkhead and be caused life to injure operating personnel,
And koniology density is big in storehouse, toxic gas is more, is not suitable for human breathing, and deashing difficulty is big, and risk is high.
The content of the invention
The present invention overcomes the shortcomings of that prior art is present, and technical problem to be solved is：There is provided a kind of for clearing up cylinder
Bringing down stocks robot and bringing down stocks method for silo wall knot ash, solves the problems, such as that bulkhead knot ash is high with manual cleaning difficulty Risks.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：One kind is used for clearing up silo bulkhead knot ash
Bring down stocks robot, including robot body, dynamical system, deashing mechanism, guiding mechanism, the dynamical system and guiding mechanism
Relative to robot body's axial symmetry arrangement, the deashing mechanism is arranged at the top of robot body；Described one kind is used for
Clearing up the grey method of bringing down stocks for bringing down stocks robot of silo bulkhead knot is：Supporting mechanism will be brought down stocks after robot is put into storehouse, by controlling
Robot startup is brought down stocks in the control of molding block, and explosion-proof air motor provides power, brings down stocks robot in Guiding machine to bring down stocks robot
Walked along silo wallflow in the presence of structure, during traveling, deashing mechanism will constantly concentrate at coal cinder and coal ash on bulkhead with
Bulkhead is separated.
The robot body includes front side push rod, preceding push rod, body frame, rear side push rod, and the body frame is fixed on preceding push rod
Middle and lower part, the front side push rod and rear side push rod be arranged symmetrically perpendicular to preceding push rod relative to body frame and preceding push rod, it is described after
One end of side push rod is along the scalable maximum 20cm in bar direction.
The dynamical system includes explosion-proof air motor and rubber belt track, and the explosion-proof air motor is fixed on body frame,
The rubber belt track, as walking intermediary, is placed in the middle of front side push rod and rear side push rod, relative to preceding using two slat gum crawler belts
Push rod is symmetrical, on body frame, drives rubber belt track to be creeped in storehouse by explosion-proof air motor.
The deashing mechanism includes deashing blade and connecting plate, and deashing blade shapes are plow-shape, are arranged on by connecting plate
Front side push rod side, is homonymy with rear side push rod telescopic side.
The guiding mechanism includes deflecting roller, front jockey wheel and rear directive wheel, and the deflecting roller is arranged on preceding push rod top,
The front jockey wheel and rear directive wheel be separately mounted to front side push rod and rear side push rod two ends, deflecting roller, front jockey wheel and after
Directive wheel size is identical, is 6 cun.
The present invention has the advantages that compared with prior art：
1. robot is brought down stocks using crawler belt as walking intermediary, and reasonable selection grounding pressure, can normally be walked in storehouse；
2. robot is brought down stocks by being provided with preceding push rod, turning function when realization is contacted with bulkhead, by being provided with front side top
The function of Robot bulkhead traveling is brought down stocks in bar and rear side push rod, realization, solves the problems, such as to bring down stocks the guiding during robot advances；
3. bring down stocks robot whole power both to be from explosion-proof air motor, and connected by tracheae, will not so from root
Produce spark, it is to avoid the danger that a large amount of fuel gas in storehouse trigger；
4. deashing problem of the robot in storehouse is brought down stocks.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only
It is this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor,
May be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 originally brings down stocks the ash-clearing structure main body figure of robot；
Fig. 2 originally brings down stocks robot in storehouse inner schematic diagram；
Fig. 3 originally brings down stocks the deashing blade work principle schematic of robot；
Fig. 4 originally brings down stocks the overall structure figure of robot.
1. front side push rod in Fig. 1,2. deflecting roller, 3. before push rod, 4. deashing blade, 5. front jockey wheel, 6. body frame, 7. prevents
Quick-fried air motor, 8. rubber belt track, 9. rear side push rod, 10. after directive wheel.
11. bring down stocks state when robot deflecting roller rigid connection in storehouse touches bulkhead in Fig. 2, and 12. bring down stocks robot in storehouse
Deflecting roller and front jockey wheel contact state during bulkhead simultaneously, and 13. to bring down stocks robot front jockey wheel in storehouse same with rear directive wheel
When contact bulkhead when state, 14. silo walls, α bring down stocks the axis of robot and bulkhead tangent line angle, and β bring down stocks robot
Front side push rod and rear side push rod line and the angle for bringing down stocks robot axis.
14. silo wall in Fig. 3（Very big with silo volume differences due to bringing down stocks robot, silo wall can be approximately to be faced directly）,
15. connecting plates, the knot ash on 16. silo walls, F：Deashing blade is to the pressure that ash is tied on silo wall, Fa：F divides along silo center
Power, Fb：F along deashing robot direct of travel component.
17. dynamical system in Fig. 4,18. deashing mechanisms, 19. control modules, 20. guiding mechanisms, 21. robot bodies,
22. silos, 23. supporting mechanisms.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
It is based on
Embodiment in the present invention, it is all that those of ordinary skill in the art are obtained under the premise of creative work is not made
Other
Embodiment, belongs to the scope of protection of the invention.
It is a kind of for clear up silo bulkhead knot ash bring down stocks robot, including robot body 21, dynamical system 17, deashing
Mechanism 18, guiding mechanism 20, the dynamical system 17 and guiding mechanism 20 are arranged relative to the axial symmetry of robot body 21, described
Deashing mechanism 18 is arranged at the top of robot body 21.
The robot body 21 includes front side push rod 1, preceding push rod 3, body frame 6, rear side push rod 9, and the body frame 6 is fixed on
The middle and lower part of preceding push rod 3, the front side push rod 1 and rear side push rod 9 perpendicular to preceding push rod 3, relative to body frame 6 and preceding push rod 3 pairs
Claim arrangement, one end of the rear side push rod 9 is along the scalable maximum 20cm in bar direction.
The dynamical system 17 includes explosion-proof air motor 7 and rubber belt track 8, and the explosion-proof air motor 7 is fixed on master
On frame 6, the rubber belt track 8, as walking intermediary, is placed in the middle of front side push rod 1 and rear side push rod 9 using two slat gum crawler belts,
It is symmetrical relative to preceding push rod 3, on body frame 6, drive rubber belt track 8 to be creeped in storehouse by explosion-proof air motor 7.
The deashing mechanism 18 includes deashing blade 4 and connecting plate 15, and deashing blade 4 is shaped as plow-shape, by connecting plate
15 are arranged on the side of front side push rod 1, are homonymy with the telescopic side of rear side push rod 9.
The guiding mechanism 20 includes deflecting roller 2, front jockey wheel 5 and rear directive wheel 10, and the deflecting roller 2 is arranged on sinciput
The top of bar 3, the front jockey wheel 5 and rear directive wheel 10 are separately mounted to the two ends of front side push rod 1 and rear side push rod 9, deflecting roller
2nd, front jockey wheel 5 is identical with the size of rear directive wheel 10, is 6 cun.
Device integral installation, is arranged on the both sides of body frame 6, by explosion-proof air motor 7 by the rubber belt track 8 in dynamical system 17
On body frame 6, push rod 3, front side push rod 1, rear side push rod 9 before installing install deashing mechanism 18, connect anti-with high-pressure air pipe
Quick-fried air motor 7 with bring down stocks robot, provide power to bring down stocks robot, control module 19, supporting mechanism 23, scene branch are installed
Support mechanism 23 will bring down stocks after robot is put into storehouse, to bring down stocks robot by the control of control module 19 and start.
Creeped in storehouse as walking intermediary using rubber belt track 8 in dynamical system 17, guiding mechanism 20 in crawling process
Preceding push rod 3 on the deflecting roller 2 installed, turning function of realization when being contacted with bulkhead, afterwards front side push rod and rear side push rod
Upper directive wheel makes to bring down stocks Robot bulkhead and advances and make to bring down stocks robot to be tightly posted on bulkhead, and by the deashing of deashing mechanism 18
Blade 4 is contacted with the knot ash on silo wall and provides a component Fa along silo center to the knot ash on bulkhead, makes it with cylinder
Bulkhead is separated, and is reached and is brought down stocks purpose（Such as figure three）.
During deashing, when bringing down stocks the contact silo wall of deflecting roller 2 before robot on push rod 3, as long as bringing down stocks the axis of robot
Line is not equal to 90 ° with bulkhead tangent line angle α, brings down stocks robot and is subject to, along the component Fa at silo center, make to bring down stocks robot
Turn to.Deflecting roller 2 is brought down stocks when robot is continued on front jockey wheel 5 while contacting bulkhead, afterwards front jockey wheel 5 with it is rear
Directive wheel 10 can simultaneously contact bulkhead, because rear side push rod 9 is bringing down stocks to stretch out 20cm robot side more than front side push rod 1, make
The front side push rod 1 for bringing down stocks robot forms angle β with the line of rear side push rod 9 with robot axis is brought down stocks, and this angle can make clearly
Storehouse robot constantly provides pressure to silo wall, so that bring down stocks robot and being adjacent to bulkhead and being advanced along bulkhead direction, advances
During, the coal cinder and coal ash that deashing mechanism 18 will be constantly concentrated on bulkhead are separated with bulkhead, reach the purpose brought down stocks（As schemed
Two）.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
God and principle within, any modification, equivalent substitution and improvements made etc., should be included in protection scope of the present invention it
It is interior.
Claims (5)
1. a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, it is characterised in that：Including robot master
Body（21）, dynamical system（17）, deashing mechanism（18）, guiding mechanism（20）, it is characterised in that：The dynamical system（17）With lead
To mechanism（20）Relative to robot body（21）Axial symmetry arrangement, the deashing mechanism（18）It is arranged at robot body（21）
Top；It is described a kind of to be for clearing up the method for bringing down stocks for bringing down stocks robot of silo bulkhead knot ash：
Supporting mechanism（23）To bring down stocks after robot is put into storehouse, by control module（19）Robot startup is brought down stocks in control, explosion-proof
Air motor（7）Power is provided to bring down stocks robot, robot is brought down stocks in guiding mechanism（20）In the presence of walked along silo wallflow,
During traveling, deashing mechanism（19）The coal cinder and coal ash that will constantly concentrate on bulkhead are separated with bulkhead.
2. according to claim 1 a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, it is special
Levy and be：The robot body（21）Including front side push rod（1）, preceding push rod（3）, body frame（6）, rear side push rod（9）, the master
Frame（6）It is fixed on preceding push rod（3）Middle and lower part, the front side push rod（1）With rear side push rod（9）Perpendicular to preceding push rod（3）, relatively
In body frame（6）With preceding push rod（3）It is arranged symmetrically, the rear side push rod（9）One end along the scalable maximum 20cm in bar direction.
3. according to claim 1 a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, it is special
Levy and be：The dynamical system（17）Including explosion-proof air motor（7）And rubber belt track（8）, the explosion-proof air motor（7）Gu
It is scheduled on body frame（6）On, the rubber belt track（8）Using two slat gum crawler belts as walking intermediary, front side push rod is placed in（1）With it is rear
Side push rod（9）Centre, relative to preceding push rod（3）It is symmetrical, installed in body frame（6）On, by explosion-proof air motor（7）Drive
Rubber belt track（8）Creeped in storehouse.
4. according to claim 1 a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, it is special
Levy and be：The deashing mechanism（18）Comprising deashing blade（4）And connecting plate（15）, deashing blade（4）Plow-shape is shaped as, is passed through
Connecting plate（15）Installed in front side push rod（1）Side, with rear side push rod（9）Telescopic side is homonymy.
5. according to claim 1 a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash, it is special
Levy and be：The guiding mechanism（20）Including deflecting roller（2）, front jockey wheel（5）With rear directive wheel（10）, the deflecting roller（2）
Installed in preceding push rod（3）Top, the front jockey wheel（5）With rear directive wheel（10）It is separately mounted to front side push rod（1）And rear side
Push rod（9）Two ends, deflecting roller（2）, front jockey wheel（5）With rear directive wheel（10）Size is identical, is 6 cun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041441.XA CN106807655B (en) | 2017-01-20 | 2017-01-20 | It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710041441.XA CN106807655B (en) | 2017-01-20 | 2017-01-20 | It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106807655A true CN106807655A (en) | 2017-06-09 |
| CN106807655B CN106807655B (en) | 2019-04-12 |
Family
ID=59111179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710041441.XA Expired - Fee Related CN106807655B (en) | 2017-01-20 | 2017-01-20 | It is a kind of for clearing up bringing down stocks robot and bringing down stocks method for silo bulkhead knot ash |
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| Country | Link |
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| CN (1) | CN106807655B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110038865A (en) * | 2019-04-25 | 2019-07-23 | 四川义德智慧科技有限公司 | A kind of automation silo sewage disposal apparatus |
| CN110171004A (en) * | 2019-06-06 | 2019-08-27 | 宁波介量机器人技术有限公司 | A kind of partial core type climbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104174A (en) * | 2007-08-12 | 2008-01-16 | 胜利油田胜利工程设计咨询有限责任公司 | Oil product storage tank cleaning hydraulic type self-controlled robot |
| CN101526007A (en) * | 2009-03-23 | 2009-09-09 | 山东科技大学 | Underground coal bunker cleaning robot |
| CN102152291A (en) * | 2011-03-01 | 2011-08-17 | 武汉理工大学 | Anti-terrorist explosion-proof robot |
| US20120305025A1 (en) * | 2011-06-06 | 2012-12-06 | Courtland Joshua Helbig | Cleaning vehicle, vehicle system and method |
| CN203600233U (en) * | 2013-11-27 | 2014-05-21 | 宁波大学 | Compact type robot capable of operating within wide range |
-
2017
- 2017-01-20 CN CN201710041441.XA patent/CN106807655B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101104174A (en) * | 2007-08-12 | 2008-01-16 | 胜利油田胜利工程设计咨询有限责任公司 | Oil product storage tank cleaning hydraulic type self-controlled robot |
| CN101526007A (en) * | 2009-03-23 | 2009-09-09 | 山东科技大学 | Underground coal bunker cleaning robot |
| CN102152291A (en) * | 2011-03-01 | 2011-08-17 | 武汉理工大学 | Anti-terrorist explosion-proof robot |
| US20120305025A1 (en) * | 2011-06-06 | 2012-12-06 | Courtland Joshua Helbig | Cleaning vehicle, vehicle system and method |
| CN203600233U (en) * | 2013-11-27 | 2014-05-21 | 宁波大学 | Compact type robot capable of operating within wide range |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110038865A (en) * | 2019-04-25 | 2019-07-23 | 四川义德智慧科技有限公司 | A kind of automation silo sewage disposal apparatus |
| CN110171004A (en) * | 2019-06-06 | 2019-08-27 | 宁波介量机器人技术有限公司 | A kind of partial core type climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106807655B (en) | 2019-04-12 |
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Granted publication date: 20190412 Termination date: 20200120 |