CN106807655B - 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
- CN106807655B CN106807655B CN201710041441.XA CN201710041441A CN106807655B CN 106807655 B CN106807655 B CN 106807655B CN 201710041441 A CN201710041441 A CN 201710041441A CN 106807655 B CN106807655 B CN 106807655B
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- China
- Prior art keywords
- robot
- down stocks
- mandril
- bulkhead
- deashing
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- 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 20
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000005183 dynamical system Methods 0.000 claims abstract description 14
- 239000003245 coal Substances 0.000 claims abstract description 5
- 239000002956 ash Substances 0.000 claims description 22
- 239000003818 cinder Substances 0.000 claims description 4
- 239000010883 coal ash Substances 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 4
- 239000004568 cement Substances 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002737 fuel gas Substances 0.000 description 1
- 230000006872 improvement Effects 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
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 239000004071 soot Substances 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 are as follows: provide 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 knot of bulkhead part is grey high with manual cleaning difficulty Risks；The technical solution of use are as follows: a kind of to bring down stocks robot for clear up silo bulkhead knot ash, 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 set to the top of robot body, the robot body includes front side mandril, preceding mandril, body frame, rear side mandril, the dynamical system includes explosion-proof air motor and rubber belt track, the deashing mechanism includes deashing blade and connecting plate, the guiding mechanism includes deflecting roller, front jockey wheel and rear directive wheel；Suitable for coal mine 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 technique
The problem of silo bulkhead knot ash is very common, and ash is tied in storehouse so that warehouse space is declined, and influences the normal reserves of silo, mesh
Preceding there are many methods to solve this problem, such as installation air bubble, vibrator, acoustic wave soot blower, these methods are all from big face
The thinking of product removal knot ash solves the problems, such as knot ash, can only temporarily solve the problems, such as bulkhead knot ash, cannot be fundamentally by solution
Certainly.If above method not can effectively solve the grey problem of knot, manufacturer often goes to clear up 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 cause life to injure operator,
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.
Summary of the invention
The present invention overcomes the shortcomings of the prior art, technical problem to be solved are as follows: provides one kind and is used to clear 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 and manual cleaning difficulty Risks are high.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: one kind is used to 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
It is arranged relative to robot body's axial symmetry, the deashing mechanism is set to the top of robot body；Described one kind is used to
Cleaning silo bulkhead knot ash bring down stocks robot bring down stocks method are as follows: supporting mechanism will be brought down stocks after robot is put into storehouse, by controlling
Robot starting is brought down stocks in the control of molding block, and explosion-proof air motor provides power to bring down stocks robot, brings down stocks robot in Guiding machine
Walked under the action of structure along silo wallflow, during traveling, deashing mechanism constantly by the coal cinder and coal ash that concentrate on bulkhead with
Bulkhead separation.
The robot body includes front side mandril, preceding mandril, body frame, rear side mandril, and the body frame is fixed on preceding mandril
Middle and lower part, the front side mandril and rear side mandril are arranged symmetrically, after described perpendicular to preceding mandril relative to body frame and preceding mandril
One end of side mandril 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 among front side mandril and rear side mandril, relative to preceding using two slat gum crawler belts
Mandril bilateral symmetry, is mounted on body frame, drives rubber belt track to creep in storehouse by explosion-proof air motor.
The deashing mechanism includes deashing blade and connecting plate, and deashing blade shapes are plow-shape, is mounted on by connecting plate
Front side mandril side is ipsilateral with rear side mandril telescopic side.
The guiding mechanism includes deflecting roller, front jockey wheel and rear directive wheel, and the deflecting roller is mounted on preceding mandril top,
The front jockey wheel and rear directive wheel be separately mounted to front side mandril and rear side mandril both ends, deflecting roller, front jockey wheel and after
Directive wheel size is identical, is 6 cun.
Compared with the prior art, the invention has the following beneficial effects:
1. bringing down stocks robot using crawler belt as walking intermediary, and grounding pressure is reasonably selected, it can normal walking in storehouse；
2. bringing down stocks robot by being equipped with preceding mandril, turning function when contacting with bulkhead is realized, before being equipped with
Side mandril and rear side mandril realize the function of bringing down stocks the traveling of Robot bulkhead, solve the guiding brought down stocks in robot traveling
Problem；
3. bringing down stocks robot whole power both to be from explosion-proof air motor, and connected by tracheae, so from the root
Spark will not be generated, the danger that a large amount of fuel gas in storehouse cause is avoided；
4. bringing down stocks deashing problem of the robot in storehouse.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description
Only originally
Some embodiments of invention, for those of ordinary skill in the art, before not making the creative labor property
It puts, may be used also
To obtain other drawings based on these 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 schematic illustration of robot；
Fig. 4 originally brings down stocks the overall structure figure of robot.
1. front side mandril in Fig. 1,2. deflecting rollers, mandril before 3., 4. deashing blades, 5. front jockey wheels, 6. body frames, 7. is explosion-proof
Air motor, 8. rubber belt tracks, 9. rear side mandrils, directive wheel after 10..
11. bring down stocks state when robot deflecting roller in storehouse has just contacted bulkhead in Fig. 2, and 12. bring down stocks robot in storehouse
Deflecting roller and front jockey wheel contact state when bulkhead simultaneously, and 13. to bring down stocks robot front jockey wheel and rear directive wheel in storehouse same
When contact bulkhead when state, 14. silo walls, α brings down stocks central axes and the bulkhead tangent line angle of robot, and β brings down stocks robot
Front side mandril and rear side mandril line and the angle for bringing down stocks robot central axes.
14. silo walls (very big due to bringing down stocks robot and silo volume differences, silo wall can be approximately to face directly) in Fig. 3,15.
Connecting plate, the knot ash on 16. silo walls, F: deashing blade to the pressure for tying ash on silo wall, Fa:F along silo center component,
Component of the Fb:F along deashing robot direction of travel.
17. dynamical system in Fig. 4,18. deashing mechanisms, 19. control modules, 20. guiding mechanisms, 21. robot bodies,
22. silo, 23. supporting mechanisms.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts
It is every other
Embodiment shall fall within the protection scope of the present invention.
It is a kind of to bring down stocks robot, including robot body 21, dynamical system 17, deashing for clear up silo bulkhead knot ash
Mechanism 18, guiding mechanism 20, the dynamical system 17 and guiding mechanism 20 are arranged relative to 21 axial symmetry of robot body, described
Deashing mechanism 18 is set to the top of robot body 21.
The robot body 21 includes front side mandril 1, preceding mandril 3, body frame 6, rear side mandril 9, and the body frame 6 is fixed on
The middle and lower part of preceding mandril 3, the front side mandril 1 and rear side mandril 9 are right relative to body frame 6 and preceding mandril 3 perpendicular to preceding mandril 3
Claim arrangement, one end of the rear side mandril 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 among front side mandril 1 and rear side mandril 9 using two slat gum crawler belts,
Relative to preceding 3 bilateral symmetry of mandril, it is mounted on body frame 6, drives rubber belt track 8 to creep in storehouse by explosion-proof air motor 7.
The deashing mechanism 18 includes deashing blade 4 and connecting plate 15, and 4 shape of deashing blade is plow-shape, passes through connecting plate
15 are mounted on front side 1 side of mandril, are ipsilateral with 9 telescopic side of rear side mandril.
The guiding mechanism 20 includes deflecting roller 2, front jockey wheel 5 and rear directive wheel 10, and the deflecting roller 2 is mounted on sinciput
3 top of bar, the front jockey wheel 5 and rear directive wheel 10 are separately mounted to the both ends of front side mandril 1 and rear side mandril 9, deflecting roller
2, front jockey wheel 5 is identical with rear 10 size of directive wheel, is 6 cun.
Rubber belt track 8 in dynamical system 17 is mounted on 6 two sides of body frame by device integral installation, by explosion-proof air motor 7
It is mounted on body frame 6, mandril 3, front side mandril 1, rear side mandril 9 before installing install deashing mechanism 18, are connected with high-pressure air pipe anti-
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 be installed
Support mechanism 23 will bring down stocks to bring down stocks robot starting by the control of control module 19 after robot is put into storehouse.
It is creeped in storehouse using rubber belt track 8 as walking intermediary in dynamical system 17, guiding mechanism 20 in crawling process
Preceding mandril 3 on the deflecting roller 2 installed, realize turning function when contacting with bulkhead, later front side mandril and rear side mandril
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 passes through the deashing of deashing mechanism 18
Blade 4 contacts with the knot ash on silo wall and provides a component Fa along silo center to the knot ash on bulkhead, makes itself and cylinder
Bulkhead separation, reaches and brings down stocks purpose (such as figure three).
When deashing, when bringing down stocks the deflecting roller 2 before robot on mandril 3 and contacting silo wall, as long as bringing down stocks the axis of robot
Line and bulkhead tangent line angle α are not equal to 90 °, bring down stocks robot and are subject to component Fa along silo center, make to bring down stocks robot
It turns to.It brings down stocks deflecting roller 2 and front jockey wheel 5 when robot continues on and contacts bulkhead simultaneously, front jockey wheel 5 is with after later
Directive wheel 10 can contact bulkhead simultaneously, bringing down stocks to stretch out 20cm robot side since rear side mandril 9 compares front side mandril 1 more, make
The front side mandril 1 and 9 line of rear side mandril for bringing down stocks robot can make clearly with robot central axes formation angle β, this angle is brought down stocks
Storehouse robot constantly gives silo wall to provide pressure, to make to bring down stocks robot and bulkhead is adjacent to and advances along bulkhead direction, advances
In the process, deashing mechanism 18 constantly separates the coal cinder concentrated on bulkhead and coal ash with bulkhead, achievees the purpose that bring down stocks (as schemed
Two).
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on should be included in protection model of the invention
Within enclosing.
Claims (4)
1. a kind of bring down stocks method for clear up silo bulkhead knot ash, it is characterised in that: including robot body (21), dynamical system
System (17), deashing mechanism (18), guiding mechanism (20), the dynamical system (17) is relative to robot body (21) axial symmetry cloth
It sets, the deashing mechanism (18) is set to the top of robot body (21)；Described one kind is used to clear up silo bulkhead knot ash
Bring down stocks method are as follows: supporting mechanism (23) will bring down stocks to bring down stocks robot by control module (19) control after robot is put into storehouse
Starting, explosion-proof air motor (7) provide power to bring down stocks robot, bring down stocks robot under the action of guiding mechanism (20) along cylinder
Bulkhead walking, during traveling, deashing mechanism (18) constantly separates the coal cinder concentrated on bulkhead and coal ash with bulkhead, institute
Stating robot body (21) includes front side mandril (I), preceding mandril (3), body frame (6), rear side mandril (9), and the body frame (6) is fixed
In the middle and lower part of preceding mandril (3), the front side mandril (I) and rear side mandril (9) are perpendicular to preceding mandril (3), relative to body frame (6)
It is arranged symmetrically with preceding mandril (3), one end of the rear side mandril (9) is along the scalable maximum 20cm in bar direction.
2. a kind of method is brought down stocks for clear up silo bulkhead knot ash according to claim 1, it is characterised in that: described dynamic
Force system (17) includes explosion-proof air motor (7) and rubber belt track (8), and the explosion-proof air motor (7) is fixed on body frame (6)
On, the rubber belt track (8), as walking intermediary, is placed in front side mandril (I) and rear side mandril (9) using two slat gum crawler belts
Between, it relative to preceding mandril (3) bilateral symmetry, is mounted on body frame (6), drives rubber belt track (8) by explosion-proof air motor (7)
It creeps in storehouse.
3. a kind of method is brought down stocks for clear up silo bulkhead knot ash according to claim 1 or 2, it is characterised in that: institute
Stating deashing mechanism (18) includes deashing blade (4) and connecting plate (15), and deashing blade (4) shape is plow-shape, passes through connecting plate
(15) it is mounted on front side side mandril (I), is ipsilateral with rear side mandril (9) telescopic side.
4. a kind of method is brought down stocks for clear up silo bulkhead knot ash according to claim 1 or 2, it is characterised in that: institute
Stating guiding mechanism (20) includes deflecting roller (2), front jockey wheel (5) and rear directive wheel (10), and the deflecting roller (2) is mounted on sinciput
Bar (3) top, the front jockey wheel (5) and rear directive wheel (10) are separately mounted to the two of front side mandril (I) and rear side mandril (9)
End, it is 6 cun that deflecting roller (2), front jockey wheel (5) are identical with rear directive wheel (10) size.
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 CN106807655A (en) | 2017-06-09 |
| CN106807655B true CN106807655B (en) | 2019-04-12 |
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| 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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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 (4)
| 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 |
| CN203600233U (en) * | 2013-11-27 | 2014-05-21 | 宁波大学 | Compact type robot capable of operating within wide range |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9200423B2 (en) * | 2011-06-06 | 2015-12-01 | Gms Mine Repair And Maintenance, Inc. | Cleaning vehicle, vehicle system and method |
-
2017
- 2017-01-20 CN CN201710041441.XA patent/CN106807655B/en not_active Expired - Fee Related
Patent Citations (4)
| 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 |
| CN203600233U (en) * | 2013-11-27 | 2014-05-21 | 宁波大学 | Compact type robot capable of operating within wide range |
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| Publication number | Publication date |
|---|---|
| CN106807655A (en) | 2017-06-09 |
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