CN109129431B - Large-scale coal bunker blockage cleaning robot - Google Patents
Large-scale coal bunker blockage cleaning robot Download PDFInfo
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- CN109129431B CN109129431B CN201811172163.2A CN201811172163A CN109129431B CN 109129431 B CN109129431 B CN 109129431B CN 201811172163 A CN201811172163 A CN 201811172163A CN 109129431 B CN109129431 B CN 109129431B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention provides a large-scale coal bunker blockage cleaning robot, which relates to the technical field of storage equipment and solves the technical problem of mechanized cleaning of the interior of a coal bunker, the coal bunker cleaning robot comprises a rotary mechanism, a lifting mechanism, a water storage tank, a left working arm, a right working arm, a walking trolley, a bunker cleaning manipulator, a balancing device and a stand column, the rotary mechanism is connected with the upper end of the stand column through a gear, the lifting mechanism is arranged on the stand column, the lower end of the stand column is provided with a connecting support rod, the left working arm and the right working arm are arranged on the connecting support rod, a balancing device is arranged on the left working arm, a walking trolley is arranged on the right working arm, a winch is arranged on the walking trolley, a bin cleaning manipulator is connected with the walking trolley through a steel wire rope, the rotation of the left working arm and the right working arm is adjusted through the steel wire rope, and the position of the bin cleaning manipulator is adjusted, so that the cleaning of the interior of the coal bin is completed. In addition, the invention also has the advantages of safe and efficient cleaning, wide application range, convenient assembly and disassembly and the like.
Description
Technical Field
The invention relates to the technical field of storage equipment, in particular to robot equipment which is used for a large coal bunker and can automatically clean the coal bunker.
Background
The ground coal bunker is used as a middle storage device for storing coal, raw coal in the coal bunker continuously flows in and out, the upper part of the structure of the raw coal bunker is a cylinder, and the lower part of the structure of the raw coal bunker is a hyperbolic cone. The upper opening is large, the lower opening is small, and the raw coal falls down from top to bottom by the self weight. The falling raw coal flows in the conical coal bunker, the area is gradually reduced when the falling raw coal flows downwards, the raw coal is extruded greatly, the external force and the probability that fine coal powder is adhered to the inner wall of the coal bunker are increased, the flow direction of the raw coal flows from the inner wall of the coal bunker to the direction of the central coal dropping pipe, and the raw coal cannot wash the inner wall of the coal bunker greatly. Therefore, the raw coal fine powder is easy to adhere to the inner wall of the coal bunker in a natural state, the friction coefficient of the raw coal powder is rapidly increased after the raw coal powder is adhered to the inner wall of the coal bunker, the raw coal powder on the inner wall of the coal bunker can be accumulated layer by layer, the hardening of a coal layer is easy to cause, the use space of the coal bunker is reduced, the production efficiency of the coal bunker is reduced, and the coal bunker needs to be cleaned regularly.
The traditional coal bunker is cleaned mainly by manpower and blasting, the former is easy to cause safety accidents in the cleaning process, and the latter explosive is not easy to master the dosage and is easy to damage the bunker wall. The proposal of the cleaning device and the cleaning method for the coal accumulated in the circumferentially-driven high-pressure water jet coal bunker, which is disclosed by the Chinese patent publication No. CN201510582875.1, can clean the coal bunker, but has low efficiency and small application range of the bunker type, and is particularly not suitable for cleaning large ground coal bunkers. And the difficulty of installing the coal bunker cleaning equipment in a large coal bunker is high, and the disassembly, the assembly and the maintenance are inconvenient, so that the existing coal bunker cleaning equipment needs to be further improved.
Disclosure of Invention
In order to solve the technical problem of mechanical blockage removal in a large ground coal bunker, the invention provides a coal bunker cleaning robot, and the specific technical scheme is as follows.
A large-scale coal bunker blockage cleaning robot comprises a swing mechanism, a lifting mechanism, a left working arm, a right working arm, a walking trolley, a bunker cleaning manipulator, a balancing device and an upright post; the swing mechanism is connected with the upper end of the upright post through a gear, the lifting mechanism is arranged on the upright post, and the lower end of the upright post is provided with a connecting support rod; the left working arm and the right working arm are arranged on the connecting support rod, the left working arm is provided with a balancing device, and the right working arm is provided with a walking trolley; the travelling trolley is provided with a winch, and the bin cleaning manipulator is connected with the travelling trolley through a steel wire rope.
Preferably, the swing mechanism comprises an explosion-proof motor, a speed reducer, a toothed belt, an upright post joint rotating shaft, an open gear, a support and a protective cover, wherein an output shaft of the explosion-proof motor is connected with the speed reducer, the speed reducer is connected with the open gear, the open gear is connected with a gear on the upright post rotating shaft through the toothed belt, and the upright post joint rotating shaft is connected with the support through a bearing set.
It is further preferred that the support is fixed at the entrance of the coal bunker, and the protection cover is installed on the upper portion of the rotating shaft of the upright post section.
Preferably, the walking trolley comprises a frame, a roller group and a winch, wherein the winch and the roller group are fixed on the frame, and the roller group is connected with the right working arm.
Preferably, the balancing device comprises a rubber water bag, a water inlet and outlet pipe, a water storage tank, a submersible pump and a booster pump, the rubber water bag is hung below the left working arm, the rubber water bag is provided with a water inlet and a water outlet, the water inlet of the rubber water bag is connected with a water outlet pipe of the water storage tank, and the water outlet pipe is provided with the booster pump; the submersible pump is arranged in the water storage tank, and the booster pump is arranged on the outer side of the water storage tank.
Preferably, the lifting mechanism comprises a first winding drum and a second winding drum, the first winding drum and the second winding drum are symmetrically arranged on the upright post, and the steel wire ropes are wound on the winding drums respectively; the steel wire rope on the first winding drum is connected with the hanging ring of the left working arm, and the steel wire rope of the second winding drum is sequentially connected with the right working arm, the bin cleaning manipulator and the walking trolley.
Preferably, the right working arm comprises a large arm head section, a large arm single section, a large arm tail section, a traveling guide rail, a transverse moving driving mechanism, a driven chain wheel and a limit switch, wherein the transverse moving driving mechanism is arranged on the large arm head section, the driven chain wheel is arranged on the large arm tail section, and the limit switches are arranged on the large arm head section and the large arm tail section.
Preferably, the cross sections of the first section of the large arm, the single section of the large arm and the last section of the large arm are triangular, and the walking trolley moves along the walking guide rail.
The beneficial effects of the invention include:
(1) the large-scale coal bunker blockage cleaning robot device makes full use of the structural characteristics of the coal bunker and the special environment of the coal bunker, replaces manual work to enter the coal bunker for cleaning, is convenient to use, and ensures the safety and the high efficiency of cleaning operation.
(2) The coal bunker blockage cleaning robot is convenient to install, disassemble and overhaul through a sectional structure, the length of the right working arm is adjusted through the number of single sections of the large arm, and the height of the stand column is adjusted to adapt to different coal bunker sizes.
(3) The rubber water bag is used as a counterweight device for balancing the stability of the operation of the working arm; the position of the bin cleaning manipulator is adjusted through a steel wire rope between the walking trolley and the right working arm to realize the coal bin cleaning.
In addition, the invention has the advantages of flexible structure, low installation and manufacturing cost, wide application range, high cleaning efficiency and the like.
Drawings
FIG. 1 is a schematic view of the overall structure of a large-scale coal bunker blockage removing robot;
FIG. 2 is a schematic diagram of the swing mechanism;
FIG. 3 is a schematic top view of a revolution;
FIG. 4 is a schematic view of the right working arm portion configuration;
FIG. 5 is a schematic view of a traverse drive configuration;
FIG. 6 is a schematic view of the construction of the lifting mechanism;
FIG. 7 is a partial structural view of the walking trolley on the right working arm;
fig. 8 is a schematic view of the structure of the hoist;
FIG. 9 is a schematic view of the mast and the lifting mechanism;
FIG. 10 is a schematic view of a balancing apparatus;
fig. 11 is a schematic structural view of a roller group.
In the figure: 1-a slewing mechanism; 2-a lifting mechanism; 3-a left working arm; 4-right working arm; 5-a walking trolley; 6-cleaning the bin manipulator; 7-a balancing device; 8-upright column; 9-an electric control cabinet; 101-open gear; 102-an output shaft; 103-end cap; 104-a toothed belt; 105-column section rotating shaft; 106-sealing felt; 107-a support plate; 108-a reinforcement plate; 109-tapered roller bearing; 110-a sleeve; 111-deep groove ball bearings; 112-explosion-proof motor; 113-a reducer; 114-a shield; 115-a first fixation plate; 116-a second fixation plate; 201-sealing ring; 401-a connecting socket; 402-fastening bolts; 403-limit switch; 404-big arm first section; 405-big arm single section; 406-guide wheel, 407-big arm end section; 408-a driven sprocket; 409-eye screws; 410-steel wire rope; 411-a wire rope clamp; 412-rigging turnbuckles; 413-a traverse driving structure; 414-bearing support; 415-a reel; 416-a coupling; 417-circlip; 418-shaft sleeve; 419-adjusting screws; 501-a frame; 502-roller train; 503-a bearing; 504-a brake; 505-roller shaft; 506-a winch; 701-lifting eye screws; 702-a connection socket; 703-rubber water bag; 704-water inlet and outlet pipes; 705-water storage tank; 706-a submersible pump; 707-a booster pump; 801-column section; 802-lighting lamps; 803-connecting struts; 804 — a first reel; 805-second reel.
Detailed Description
Referring to fig. 1 to 11, a large bunker cleaning robot according to an embodiment of the present invention is as follows.
Example 1
A large-scale coal bunker blockage cleaning robot specifically comprises a slewing mechanism 1, a lifting mechanism 2, a left working arm 3, a right working arm 4, a walking trolley 5, a bunker cleaning manipulator 6, a balancing device 7 and an upright post 8. The swing mechanism 1 is connected with the upper end of the upright post 8 through a gear, the lifting mechanism 2 is arranged on the upright post, and the lower end of the upright post 8 is provided with a connecting support rod 803. Left side work arm 3 and right work arm 4 set up on connecting strut 803, are provided with balancing unit 7 on the left side work arm 3, are provided with walking dolly 5 on the right side work arm 4, and right side work arm 4 is the triangular prism form, is provided with the walking track on the right side work arm 4. The travelling trolley 5 is provided with a winch 506, and the bin cleaning manipulator 6 is connected with the travelling trolley 5 through a steel wire rope. The bunker cleaning robot adopts a working arm structure, the right working arm 4 cleans bunkers at the same height through horizontal rotation, the right working arm 4 cleans the bunkers at different heights through adjusting a swing angle in the vertical direction, and the walking trolley 5 adjusts the position of the bunker cleaning manipulator 6 in addition, so that the accurate positioning of large-scale bunker cleaning is ensured.
The walking trolley comprises a frame 501, a roller group 502 and a winch 506, the winch 506 and the roller group 502 are fixed on the frame 501, and the roller group 502 is connected with the right working arm 4. Be provided with sideslip actuating mechanism 413 on the big arm first section 404, be provided with driven sprocket 408 on the big arm end section 407, all be provided with limit switch 403 on big arm first section 404 and the big arm end section 407, can change the angle between left working arm 3 and right working arm 4 and the stand 8 to installation in the convenient large-scale coal bunker.
The swing mechanism 1 comprises an explosion-proof motor 112, a speed reducer 113, a toothed belt 104, a column joint rotating shaft 105, an open gear 101, a support and a protective cover 114, wherein an output shaft of the explosion-proof motor 112 is connected with the speed reducer 113, the speed reducer 113 is connected with the open gear 101, the open gear 101 is connected with a gear on the column joint rotating shaft 105 through the toothed belt 104, and the column joint rotating shaft is connected with the support through a bearing set. The bracket is fixed at the entrance of the coal bunker, and the protective cover is arranged at the upper part of the upright post joint rotating shaft 105.
The balancing device 7 comprises a rubber water bag 703, a water inlet and outlet pipe 704, a water storage tank 705, a submersible pump 706 and a booster pump 707, wherein the rubber water bag 703 is hung below the left working arm 3, the rubber water bag 703 is provided with a water inlet and a water outlet, the water inlet of the rubber water bag is connected with a water outlet pipe of the water storage tank, and the water outlet pipe is provided with the booster pump 707. The submersible pump 706 is arranged in the water storage tank 705, the booster pump 707 is arranged outside the water storage tank 705, and the water storage tank 705 is arranged at the top of the coal bunker, so that water is convenient to flow out.
The lifting mechanism comprises a first winding drum 804 and a second winding drum 805, the first winding drum 804 and the second winding drum 805 are symmetrically arranged on the upright post 8, and the steel wire ropes 410 are wound on the winding drums respectively. The steel wire rope 410 on the first reel is connected with a hanging ring of the left working arm 3, and the steel wire rope 410 on the second reel 805 is sequentially connected with the right working arm 4, the bin cleaning manipulator 6 and the walking trolley 5. The coal bunker blockage cleaning robot is convenient to install, disassemble and overhaul through a sectional structure, the length of the right working arm 4 is adjusted through the number of the large arm single sections 405, and the height of the upright post 8 is adjusted to adapt to different coal bunker sizes.
Example 2
A large-scale coal bunker blockage cleaning robot specifically comprises an electric control cabinet 9, a swing mechanism 1, a lifting mechanism 2, a left working arm 3, a right working arm 4, a walking trolley 5, a bunker cleaning manipulator 6, a balancing device 7 and an upright post 8. The walking trolley 5 comprises a frame 501, a roller group 502 and a winch 506; the device comprises a swing mechanism 1, a lifting mechanism 2, a left working arm 3, a right working arm 4, a walking trolley 5, a bin cleaning manipulator 6, a balancing device 7 and an upright post 8; the swing mechanism 1 comprises an explosion-proof motor 112, a speed reducer 113, a toothed belt 104, a column section swing shaft 105, an open gear 101, a bracket and a protective cover 114; the balancing device 7 comprises a rubber water bag 703, a water inlet and outlet pipe 704, a water storage tank 705, a submersible pump 706 and a booster pump 707. The swing mechanism 1 is connected with the upper end of the upright post 8 through a gear, the lifting mechanism 2 is arranged on the upright post, and the lower end of the upright post 8 is provided with a connecting support rod 803. Left side work arm 3 and right work arm 4 set up on connecting strut 803, are provided with balancing unit 7 on the left side work arm 3, are provided with walking dolly 5 on the right side work arm 4, and right side work arm 4 is the triangular prism form, is provided with the walking track on the right side work arm 4. The travelling trolley 5 is provided with a winch 506, and the bin cleaning manipulator 6 is connected with the travelling trolley 5 through a steel wire rope 410.
The upper end of a vertical column section rotating shaft 105 is fixed at a coal inlet above a coal bunker, an electric control cabinet 9 and a water storage tank 705 are arranged on a top plate outside the coal bunker, a rotating mechanism 1 is in transmission connection through a toothed belt 104, a connecting support rod 803 at the left side of the lower end of the tail section of a vertical column 8 is hinged with a left working arm 3, and a rubber water bag 703 is arranged on the left working arm 3. The right connecting strut 803 is hinged with the right working arm 4, the walking trolley 5 is arranged on the right working arm 4, and the winch 506 is arranged on the walking trolley 5. The bin cleaning manipulator 6 is connected with a steel wire rope 410 through a pulley, one end of the steel wire rope 410 is connected with a winch, the other end of the steel wire rope 410 is connected with the tail end of a working arm, and the working arm comprises a left working arm 3 and a right working arm 4. The middle part of the upright post 8 is provided with a lifting mechanism 2, two winding drums 415 are symmetrically arranged on the lifting mechanism 2, and the winding drums 415 are respectively connected with the tail end of the working arm and the lifting bolt 409 at the tail end of the counterweight device through a steel wire rope 410. The starting mounting positions of the left and right working arms 3 and 4 are each arranged offset at an acute angle relative to the upright 8. When the whole machine is arranged at the center of the coal bunker, the left working arm 3 and the right working arm 4 are lifted to a position vertical to the frame under the pulling of the winch 506.
As shown in fig. 2 and 3, the swing mechanism 1 fixes the explosion-proof motor 112 to the support plate 107 by fixing screws, and an output shaft of the explosion-proof motor 112 is connected to the reducer 113. The output shaft of the speed reducer 113 is provided with a shaft sleeve and is radially connected with the output shaft through a key, the top end of the output shaft is provided with an open gear, the open gear is radially connected through the key and is axially compressed by an end cover 103, the open gear is provided with a toothed belt and is meshed with the open gear outside the upright post joint rotating shaft through the toothed belt and is radially connected with the upright post joint rotating shaft through the key, and the upper part of the rotary driving mechanism is provided with a protective cover. The supporting plate 107 is clamped at a coal inlet of the coal bunker, the supporting plate 107 is connected with the first fixing plate 115 through a fixing screw, the first fixing plate 115 is connected with the second fixing plate 116 through a second fixing screw, the second fixing plate 116 is clamped at a shaft shoulder of the column joint rotating shaft 105, the first fixing plate 115, the second fixing plate 116 and the supporting plate 107 are made into a supporting frame, and a reinforcing plate 108 is arranged inside the supporting frame. The tapered roller bearing 109 and the deep groove ball bearing 111 on the upright post joint rotating shaft 105 are arranged in through holes of the rotating shaft and the shaft sleeve, the tapered roller bearing 109 is arranged face to face, the outer ring of the tapered roller bearing 109 is tightly pressed by the shaft sleeve and is axially positioned by a sleeve 110 arranged on the shaft, a bearing end cover 103 is tightly attached to the end face of the outer ring of the tapered roller bearing 109 and is fixed on a second fixing plate 116 through screws, the deep groove ball bearing shaft 111 is positioned by round nuts, and a sealing felt 106 is arranged between the bearing end cover and the shaft.
As shown in fig. 1 and 9, the number of the upright post sections can be properly increased or decreased according to the operation height of the upright post 8 part, the upright post sections 801 are connected together through connecting bolts, the support is welded on the upright post sections 801, the support is connected with the working arm lifting mechanism through bolts, the top section of the upright post is fixed at a coal bunker coal inlet through the support, illuminating lamps are arranged at the bottom and the side surface of the tail section of the upright post, a left connecting support rod 803 and a right connecting support rod 803 are welded at the two sides of the tail section of the upright post, and the connecting support rods are hinged with the working arm.
As shown in fig. 1 and 4, the number of the large arm single links 405 can be increased or decreased as appropriate depending on the size of the working radius of the right arm 4. The main body structures of the large arm first section 404 and the large arm last section 407 are the same as those of single sections, but the sections are different in length, and the large arm first section 404 and the large arm last section 407 are connected together by using a fastening bolt 402 and a connecting seat 401 respectively. The large arm single section 405 is butted by seamless steel pipes, the section of the single section is in a regular triangle shape as a whole, the large arm head section 404 is also provided with a transverse moving driving mechanism, the large arm tail section 407 is provided with a roller train, and the upper parts of the large arm head section 404 and the large arm tail section 407 are respectively provided with a limit switch 403. The guide wheel 406 is fixed on the inner side of the large arm single joint 405, the driving wheel set and the driven wheel set are connected through a steel wire rope, the steel wire rope penetrates through the guide wheel, the steel wire rope penetrates below the working arm, is connected to a lifting ring screw 701 of the walking trolley and is adjusted through a rigging turnbuckle, the steel wire rope 410 is clamped by a steel wire rope clamping head, and the lifting ring screw 701 is connected with the working arm lifting mechanism 2.
As shown in fig. 4 and 5, the reel 415 and the bearing support 414 in the traverse driving structure 413 are integrally fixed to the connecting seat 401 by screws, the bearing on the reel shaft is installed in the through hole of the bearing support, the end cover 103 is tightly attached to the end surface of the outer ring of the bearing and fixed to the left end surface of the support by screws, the axial direction is positioned by a round nut installed on the left side of the shaft end, a sealing felt 106 is further arranged between the shaft and the shaft sleeve, the reel 415 is axially fixed by a sleeve 110 and an elastic collar, the reel shaft is radially connected by a key, the rightmost end of the reel shaft is connected with an output shaft of the speed reducer 113 by a coupler 416, the output shaft of the explosion-proof motor is connected with the speed reducer 113, and the speed reducer is fixed to the connecting seat by screws.
As shown in fig. 1 and fig. 10, the rubber water bag 703 of the balancing device 7 is externally connected with a water inlet and outlet pipe 704, the rubber water bag 703 has a water inlet and a water outlet, one end of the water inlet pipe is connected with the water inlet of the rubber water bag, and the other end of the water inlet pipe is connected with the submersible pump 706. One end of the water outlet pipe is connected with the water outlet of the rubber water bag, and the other end is connected with a booster pump 707. A submersible pump 706 is arranged in the water storage tank 705, the submersible pump 706 is connected with the water outlet of the water storage tank 705 through a water pipe, a booster pump is arranged outside the water storage tank 705, and a booster pump 707 is connected with the water inlet of the water storage tank 705 through a water pipe.
As shown in fig. 4, 6 and 9, the working arm lifting mechanism 2 is integrally fixed to the column section 801 by connecting a part of the bearing support and the bracket with bolts. The reel includes first reel 804 and second reel 805, and the bearing at reel axle both ends is installed in bearing support hole, installs the bearing at reel axle upper end, bearing inner race and support hole contact, and the axial is fixed a position by installing the sleeve 110 at the bearing upside, and bearing end cover 103 hugs closely on bearing inner race terminal surface, through the fix with screw, fixes on bearing support up end, installs the bearing at reel axle downside, bearing inner race and support hole contact, and the axial is fixed a position by installing two round nuts at the bearing downside. The bearing end cover is tightly attached to the end face of the bearing outer ring, fixed through screws and fixed on the lower end face of the bearing support, lip-shaped sealing rings and sealing felts 106 are arranged among the shaft, the bearing support, the end cover and the sleeve, the sleeve is axially fixed on the winding drum for positioning, and the winding drum is radially connected with the shaft through keys. The open gear is arranged at the uppermost end of the drum shaft and is meshed with the open gear on the output shaft of the speed reducer connected with the coupler. The vertical explosion-proof motor is installed on the column joint 801 through screws. The wire ropes on the drums are respectively connected with lifting bolts 701 on the working arms.
As shown in fig. 7, 8 and 11, the frame of the walking trolley 5 is made of steel plates, and is connected by fixing screws, and the roller group 502 can be finely adjusted by adjusting screws on the trolley frame 501, so that the rollers are clamped on the track. The rolling wheel set 502 is provided with 3 sets, the structure and the installation mode of the rolling wheel set are completely the same, the rolling wheels are provided with wheel rims, three pairs of rolling wheels are clamped on the track of the right working arm 4 to run simultaneously, the bearings are installed face to face, bearing supports are installed in through holes of the rolling wheels, bearing end covers are tightly attached to the end faces of outer rings of the bearings and connected with the rolling wheels through screws, the bearings installed on the left sides of the rolling wheels are axially limited by sleeves, the bearings installed on the right sides of the rolling wheels are axially limited by elastic check rings, sealing felts are additionally installed between the rolling wheels and the bearing end covers, the bearing end covers and glands are fixed through screws, the steel plates and the bearing supports are fixed through inserting the steel plates by washing small grooves on the shafts, and spring bolts capable of buffering and absorbing shock are installed between the bearing supports of the small frames and the upper rolling wheels.
The winch 506 is fixed on a bottom plate on the lower side of the trolley frame, an output shaft of the explosion-proof motor 112 is connected with the speed reducer through a coupler and a brake, an output shaft of the speed reducer 113 is fixed by a support after coming out, an open gear 101 is installed outside the output shaft of the speed reducer 113, the open gear 101 drives the winding drum to rotate, bearings on the bearing supports are arranged face to face, the end cover 103 is tightly attached to the outer ring end face of the bearing outer ring, the axial direction is limited by a round nut, and a sealing felt 106 is additionally arranged between the bearing supports and the shaft.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (1)
1. A large-scale coal bunker blockage cleaning robot is characterized by comprising a swing mechanism, a lifting mechanism, a left working arm, a right working arm, a walking trolley, a bunker cleaning manipulator, a balancing device and an upright post;
the swing mechanism is connected with the upper end of the upright post through a gear, the lifting mechanism is arranged on the upright post, and the lower end of the upright post is provided with a connecting support rod; the left working arm and the right working arm are arranged on the connecting support rod, the left working arm is provided with a balancing device, and the right working arm is provided with a walking trolley; the travelling trolley is provided with a winch, and the bin cleaning manipulator is connected with the travelling trolley through a steel wire rope; the angles between the left working arm and the upright post and between the right working arm and the upright post are adjustable;
the right working arm comprises a large arm head section, a large arm single section, a large arm tail section, a traveling guide rail, a transverse moving driving mechanism, a driven chain wheel and a limit switch, wherein the large arm head section is provided with the transverse moving driving mechanism, the large arm tail section is provided with the driven chain wheel, and the large arm head section and the large arm tail section are both provided with the limit switch; the sections of the first section of the large arm, the single section of the large arm and the last section of the large arm are triangular, and the travelling trolley moves along the travelling guide rail;
the swing mechanism comprises an explosion-proof motor, a speed reducer, a toothed belt, an upright post joint rotating shaft, an open gear, a support and a protective cover, wherein an output shaft of the explosion-proof motor is connected with the speed reducer;
the support is fixed at the entrance of the coal bunker, and the protective cover is arranged at the upper part of the rotating shaft of the upright post section;
the walking trolley comprises a frame, a roller group and a winch, wherein the winch and the roller group are fixed on the frame, and the roller group is connected with the right working arm;
the balancing device comprises a rubber water bag, a water inlet and outlet pipe, a water storage tank, a submersible pump and a booster pump, the rubber water bag is hung below the left working arm, the rubber water bag is provided with a water inlet and a water outlet, the water inlet of the rubber water bag is connected with a water outlet pipe of the water storage tank, and the booster pump is arranged on the water outlet pipe; the submersible pump is arranged in the water storage tank, and the booster pump is arranged on the outer side of the water storage tank;
the lifting mechanism comprises a first winding drum and a second winding drum, the first winding drum and the second winding drum are symmetrically arranged on the upright post, and the steel wire ropes are wound on the winding drums respectively; the steel wire rope on the first winding drum is connected with the hanging ring of the left working arm, and the steel wire rope of the second winding drum is sequentially connected with the right working arm, the bin cleaning manipulator and the walking trolley.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172163.2A CN109129431B (en) | 2018-10-09 | 2018-10-09 | Large-scale coal bunker blockage cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811172163.2A CN109129431B (en) | 2018-10-09 | 2018-10-09 | Large-scale coal bunker blockage cleaning robot |
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| CN109129431A CN109129431A (en) | 2019-01-04 |
| CN109129431B true CN109129431B (en) | 2022-02-18 |
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| CN109989570A (en) * | 2019-04-09 | 2019-07-09 | 珠海市蓝海工业技术有限公司 | The repair method of large-scale coal store color steel tile based on lift clutch |
| CN110695011B (en) * | 2019-09-30 | 2022-02-01 | 太原科技大学 | Silo inner wall adhesion material cleaning device and cleaning method thereof |
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