CN109747987A - Cabin cleaning machinery hand and coal bunker block clearing robot - Google Patents
Cabin cleaning machinery hand and coal bunker block clearing robot Download PDFInfo
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- CN109747987A CN109747987A CN201811501363.8A CN201811501363A CN109747987A CN 109747987 A CN109747987 A CN 109747987A CN 201811501363 A CN201811501363 A CN 201811501363A CN 109747987 A CN109747987 A CN 109747987A
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- drive mechanism
- rotary drive
- machinery hand
- base
- manipulator arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D88/00—Large containers
- B65D88/54—Large containers characterised by means facilitating filling or emptying
- B65D88/64—Large containers characterised by means facilitating filling or emptying preventing bridge formation
- B65D88/68—Large containers characterised by means facilitating filling or emptying preventing bridge formation using rotating devices
Abstract
The invention discloses a kind of cabin cleaning machinery hand and coal bunker block clearing robots.Wherein cabin cleaning machinery hand includes sequentially connected pedestal, manipulator arm and taking off from top to bottom and falling device；The first rotary drive mechanism for driving manipulator arm to rotate in the horizontal direction is installed in pedestal；In manipulator arm upper end configured with the second rotary drive mechanism for driving the manipulator arm to swing in vertical plane；It takes off and falls the lower end that device is installed on manipulator arm, and be arranged horizontally；It is equipped with taking off to fall in device for driving the third rotary drive mechanism for taking off and falling device and rotating around own axes；The outer surface for falling device is being taken off equipped with the sharp portion for being cleared up hardened coal seam.The present invention has three degree of freedom, and light structure is compact, can respond rapidly to control command, is conducive to improve production efficiency, enters coal bunker internal cleaning using the cabin cleaning machinery hand, ensure that the safety and high efficiency of prune job.
Description
Technical field
The present invention relates to a kind of cabin cleaning machinery hand and with the coal bunker block clearing robot of the cabin cleaning machinery hand.
Background technique
Ground coal bunker in the prior art, often will appear hardened problem, it is therefore desirable in time to plate in use
Knot coal seam is cleared up.There are two types of common manner of cleaning up: one is manual cleanings, and another kind is cleared up by blasting method.
Cleaning needs staff to enter ground coal bunker manually, clears up hardened coal seam, and cleaning efficiency is low, and by
It is relatively high in gas in coal bunker and carbonomonoxide concentration, staff's poisoning is easily caused, and there is the security risk of explosion.
Hardened coal seam can also be cleared up by way of explosion, however such mode needs to control the dosage of explosive, such as
Fruit explosive consumption is few, then can not effectively clear up hardened coal seam, if explosive consumption is big, is easily damaged ground coal bunker.
To sum up, hardened coal seam cleaning efficiency is low in the coal bunker of ground in the prior art, and there are the technical problems such as safety difference.
With the development of science and technology more and more industrial robots are applied to coal industry, the application of manipulator is improved
The efficiency of production saves the spending of enterprise, alleviates the labor intensity of coal miner, and improves the safety of work.
Summary of the invention
It is an object of the invention to propose a kind of cabin cleaning machinery hand, the hardened coal seam in the coal bunker of ground can be effectively cleared up.
The present invention to achieve the goals above, adopts the following technical scheme that
Cabin cleaning machinery hand, including sequentially connected pedestal, manipulator arm and take off from top to bottom and fall device；
The first rotary drive mechanism for driving manipulator arm to rotate in the horizontal direction is installed in pedestal；
It is driven in the second rotation that manipulator arm upper end is configured with for driving the manipulator arm to swing in vertical plane
Motivation structure；
It takes off and falls the lower end that device is installed on manipulator arm, and be arranged horizontally；
It is equipped with taking off to fall in device for driving the third rotary drive mechanism for taking off and falling device and rotating around own axes；
The outer surface for falling device is taken off equipped with the sharp portion for being cleared up hardened coal seam.
Preferably, the first rotary drive mechanism, the second rotary drive mechanism, third rotary drive mechanism use pneumatic actuation
Mechanism.
Preferably, it takes off and falls there are two devices, be respectively arranged in two opposite side portions of manipulator arm, and axis is overlapped.
Preferably, pedestal includes the No.1 base housing set gradually from top to bottom, No. two base housings and No. three bottoms
Seat shell body；
Wherein, it is bolted between the bottom of No.1 base housing and No. two base housings；
No. two base housings are located at the inside top of No. three base housings；
Angular contact ball bearing is installed between No. two base housings and the top of No. three base housings；
First rotary drive mechanism is located in No.1 base housing, No. two base housings and No. three base housings；
First rotary drive mechanism includes No.1 air motor and No.1 RV retarder；
The motor base of No.1 air motor is installed on No. two base housings by bolt；
The output shaft of No.1 air motor is connected with No.1 RV retarder, and is fixed by clamping screw；
The output panel of No.1 RV retarder is connected by bolt with No. three base housings.
Preferably, the side of No. two base housings is equipped with a first horizontal placed mesa；
The inside top of No. three base housings is equipped with a second horizontal placed mesa；
First placed mesa and the second placed mesa are equal, and the bottom holding plane of angular contact ball bearing is collectively formed；
The first postive stop baffle and the second postive stop baffle are further respectively had in the inside top of angular contact ball bearing and outside；
Wherein, it is bolted between the bottom of the first postive stop baffle and No.1 base housing, No. two base housings；
It is bolted between second postive stop baffle and No. three base housings.
Preferably, manipulator arm includes T-type support frame, live spindle and arm ontology；
The transverse slat of T-type support frame is installed on the middle part of pedestal by bolt；
Second rotary drive mechanism includes No. two air motors and No. two RV retarders；
No. two air motors and No. two RV retarders are located at the two sides of the riser of T-type support frame, in which:
The motor base of No. two air motors is installed on the riser of T-type support frame by bolt；
The output shaft of No. two air motors and No. two RV retarders are connected, and are fixed by clamping screw；
The output panel of No. two RV retarders is connect by bolt with live spindle；
Arm ontology is installed in live spindle.
Preferably, it is equipped with shield on the outside of No. two RV retarders, shield is installed on the riser of T-type support frame by bolt
On；The main shaft passed through for live spindle is equipped on shield to perforate；
Positioning spacer is installed, positioning spacer is placed in live spindle at main shaft perforation.
Preferably, it is solid that several sharp portions for falling cleaning wheel hub that device includes tubular and being placed on cleaning wheel hub are taken off
Fixed set；A radially installed plate is equipped in the inside of cleaning wheel hub；
The end of radially installed plate is installed on the inner wall of cleaning wheel hub by bolt；
Third rotary drive mechanism includes No. three air motors；
The motor base of No. three air motors is installed on the lower end of manipulator arm by bolt；
No. three air motors protrude into cleaning wheel hub from one end of cleaning wheel hub；
No. three air motors motor base and clear up wheel hub inner wall between angular contact ball bearing is installed；
It is connected by key between the output shaft and radially installed plate of No. three air motors；
End part seal lid is equipped in the other end of cleaning wheel hub；
Each sharp portion fixing sleeve is evenly arranged along the length direction of cleaning wheel hub, and each sharp portion fixing sleeve is pacified by bolt
Dress；
Several sharp portions are disposed in the circumferential direction of each sharp portion fixing sleeve.
Preferably, it clears up on wheel hub and is also equipped with pressure sensor.
In addition, the invention also provides a kind of coal bunker block clearing robot, to meet the requirement of block clearing in large-scale ground coal bunker.
The present invention to achieve the goals above, adopts the following technical scheme that
Coal bunker block clearing robot, including controller and cabin cleaning machinery hand；Wherein,
The above-mentioned cabin cleaning machinery hand of cabin cleaning machinery hand getting；
Controller by route respectively with the first rotary drive mechanism, the second rotary drive mechanism, third rotary driving machine
Structure is connected.
The present invention has the advantage that
Cabin cleaning machinery hand in the present invention has three degree of freedom, and light structure is compact, can respond rapidly to control command,
Conducive to production efficiency is improved, it is manually entered coal bunker internal cleaning using cabin cleaning machinery hand substitution, it is easy to use, it ensure that cleaning
The safety and high efficiency of operation.In addition, the cabin cleaning machinery hand getting pneumatic control in the present invention, load capacity is strong, is applicable in
In the environment of flammable and explosive substance, the demand of coal bunker inside processing environment can satisfy completely.In addition, the conveyer for emptying warehouse in the present invention
Tool hand also uses taking off with rotary structure and falls device, is equipped with sharp portion on device taking off to fall, can quickly clean hardened coal seam.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cabin cleaning machinery hand in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of pedestal in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of manipulator arm in the embodiment of the present invention；
Fig. 4 is to take off the structural schematic diagram for falling device in the embodiment of the present invention；
Fig. 5 is in the embodiment of the present invention
Wherein, 1- pedestal, 2- manipulator arm, 3-, which takes off, falls device, the first rotary drive mechanism of 4-, the second rotary driving machine of 5-
Structure, 6- third rotary drive mechanism, 7- sharp portion, 8- No.1 base housing, No. bis- base housings of 9-；
No. tri- base housings of 10-, 11- angular contact ball bearing, 12- No.1 air motor, 13- No.1 RV retarder, 14- lock
Tight bolt, 15- No.1 splined shaft, the first placed mesa of 16-, the second placed mesa of 17-, the first postive stop baffle of 18-；
The second postive stop baffle of 19-, 20- lip-type packing, 21- installation through-hole, 22- peep hole, 23-T type support frame, 24-
Live spindle, 25- arm ontology, 26- buck plate, No. bis- air motors of 27-, No. bis- RV retarders of 28-；
29- clamping screw, No. bis- splined shafts of 30-, 31- bearing (ball) cover, 32- shield, 33- positioning spacer, 34- reinforce
Muscle, 35- air inlet, 36- clear up wheel hub, 37- sharp portion fixing sleeve, 38- radially installed plate；
No. tri- air motors of 39-, 40- round nut；41- angular contact ball axis, 42- positioning spacer, 43- end part seal lid.
Specific embodiment
With reference to the accompanying drawing and specific embodiment invention is further described in detail:
Embodiment 1
The embodiment of the present invention 1 has addressed a kind of cabin cleaning machinery hand.
As shown in Figure 1, cabin cleaning machinery hand includes sequentially connected pedestal 1, manipulator arm 2 and taking off from top to bottom and falling device 3.
Wherein, direction herein only refers to the direction in Fig. 1, when in use may be different from above-mentioned direction.
First rotary drive mechanism 4 is installed in pedestal 1.
The effect of first rotary drive mechanism 4 is that drive manipulator arm 2 rotates in the horizontal direction, this is free for first
Degree.
The second rotary drive mechanism 5 is configured in 2 upper end of manipulator arm.
Second rotary drive mechanism 5 effect is drive manipulator arm 2 swung in vertical plane, this for second from
By spending.
The swing angle, for example, can be 0 degree -90 degree within the scope of.
I.e. manipulator arm 2 is in Fig. 1 on the outside of paper or the maximum magnitude of interior side oscillation is horizontality.
It takes off and falls the lower end that device 3 is installed on manipulator arm 2, and be arranged horizontally.
Third rotary drive mechanism 6 is equipped in device 3 taking off to fall.
The effect of third rotary drive mechanism 6 is to drive to take off to fall device 3 and rotate around own axes, this is third freedom degree.
Sharp portion 7 is equipped with taking off the outer surface for falling device 3.
In the case where taking off the high speed rotation state for falling device 3, sharp portion 7 can be quickly cleaned hardened coal seam.
Cabin cleaning machinery hand in the embodiment of the present invention, since with above three freedom degree, light structure is compact, together
When each rotary drive mechanism can respond rapidly to control command, be conducive to improve production efficiency.
Each rotary drive mechanism can use electric drive in the present embodiment, i.e., driven using rotating electric machine.
Preferably, the first rotary drive mechanism 4, the second rotary drive mechanism 5, third rotary drive mechanism 6 are all made of gas
The reason of dynamic driving mechanism, i.e., driven using air motor, selection pneumatic actuation mode is:
Air motor control cabin cleaning machinery hand have many advantages, such as safely, it is explosion-proof, do not generate when in use spark, overheat,
The risk factors such as explosion, short-circuit (electricity), are particularly suitable for inflammable, explosive, high temperature operating environment (high methane concentration coal bunker).
The quantity for falling device 3 is taken off in the present embodiment can one, can also there are two.
When setting two, which are taken off, falls device 3, takes off for two and fall two opposite side portion (examples that device 3 is respectively arranged in manipulator arm 2
Such as left side, right side), and two are taken off the axis coincidence for falling device 3.
By above-mentioned design, conducive to the cleaning area for increasing cabin cleaning machinery hand, cleaning efficiency is improved.
It 2 is described in detail with reference to the accompanying drawing to specific structure of the attached drawing 4 to cabin cleaning machinery hand in the present embodiment:
As shown in Fig. 2, pedestal 1 includes 8, No. two base housings 9 of No.1 base housing and No. three base housings 10.Its
In, 8, No. two base housings 9 of No.1 base housing and No. three base housings 10 are sequentially arranged from top to bottom.
It is bolted between the bottom of No.1 base housing 8 and No. two base housings 9.
No. two base housings 9 are located at the inside top of No. three base housings 10.
Angular contact ball bearing 11 is installed between No. two base housings 9 and the top of No. three base housings 10.
By angular contact ball bearing 11, No. three base housings 10 are rotated horizontally relative to No. two base housings 9.
First rotary drive mechanism 4 is located in 8, No. two base housings 9 of No.1 base housing and No. three base housings 10.
First rotary drive mechanism 4 includes No.1 air motor 12 and No.1 RV retarder 13.Wherein,
The motor base of No.1 air motor 12 is installed on No. two base housings 9 by bolt.
The output shaft of No.1 air motor 12 is connected with No.1 RV retarder 13, and is fixed by clamping screw 14.
Specifically, the output shaft of No.1 air motor 12 is connected with the No.1 splined shaft 15 of No.1 RV retarder 13.
The output panel of No.1 RV retarder 13 is connected by bolt with No. three base housings 10.
Under the drive of No.1 air motor 12, No. three base housings 10 are rotated horizontally relative to No. two base housings 9.
The mounting structure of diagonal contact ball bearing 11 is described in detail below:
A first horizontal placed mesa 16 is equipped in the side of No. two base housings 9.
A second horizontal placed mesa 17 also is provided in the inside top of No. three base housings 10.
First placed mesa 16 is equal with the second placed mesa 17, and the bottom that angular contact ball bearing 11 is collectively formed is placed
Plane.
A kind of preferred embodiment, the first placed mesa 16 are integrally formed with No. two base housings 9 in processing.Similarly, second
Placed mesa 17 can also be integrally formed with No. three base housings 10 in processing.
After the bottom of angular contact ball bearing 11 is placed on the first placed mesa 16 and the second placed mesa 17, need
Consider that the top of angular contact ball bearing 11 limits problem, therefore carried out following design:
The first postive stop baffle 18 and the second limiting block are further respectively had in the inside top of angular contact ball bearing 11 and outside
Plate 19.
First postive stop baffle 18 has the shape being adapted with No. two base housings 9.
During installation, spiral shell will be passed through between the bottom of the first postive stop baffle 18 and No.1 base housing, No. two base housings
It tethers and connects.
It is bolted between second postive stop baffle 19 and No. three base housings 10.
First postive stop baffle 18 and the second postive stop baffle 19 are ring structure.
In addition, lip-type packing 20 is also equipped in the upside of angular contact ball bearing 11, to realize sealing.
At the top of No.1 base housing 8, there are installation through-holes 21, for realizing the peace of the first rotary drive mechanism 4 etc.
Dress.
In addition, in the side of No.1 base housing 8, also there are peep holes 22.
As shown in figure 3, manipulator arm 2 includes T-type support frame 23, live spindle 24 and arm ontology 25.
A buck plate 26 has been bolted in the bottom of No. three base housings 10.
T-type support frame 23 is made of a riser and a transverse slat.Wherein:
The transverse slat of T-type support frame 23 is installed on the middle part of pedestal, the i.e. middle part of buck plate 26 by bolt.
Second rotary drive mechanism 5 includes No. two air motors 27 and No. two RV retarders 28.No. two 27 Hes of air motor
No. two RV retarders 28 are located at the two sides (such as left and right side) of the riser of T-type support frame 23.
Wherein, the motor base of No. two air motors 27 is installed on the riser of T-type support frame 23 by bolt.
The output shaft of No. two air motors 27 and No. two RV retarders 28 are connected, and are fixed by clamping screw 29.
Specifically, the output shaft of No. two air motors 27 is connected with No. two splined shafts 30 of No. two RV retarders 28.
The output panel of No. two RV retarders 28 is connect by bolt with live spindle 24.
Arm ontology 25 is installed in live spindle 24.Specifically,
Two keyways, the tapered structure of the tip designs of live spindle 24 are washed out in live spindle 24.
Arm ontology 25 is mounted on the right side of live spindle 24, is carried out using key circumferentially fixed.
In addition, the present embodiment also installs bearing (ball) cover 31 additional in the end of live spindle 24, axial restraint is carried out.
Certainly, shield 32 is additionally provided on the outside of No. two RV retarders 28.
Shield 32 it is open at one end, and open end is installed on the riser of T-type support frame 23 by bolt.
The main shaft perforation (not shown) passed through for live spindle 24 is equipped on shield 32 (right end).
Positioning spacer 33 is installed, positioning spacer is placed in live spindle 24 at main shaft perforation.
Under the drive of No. two air motors 27, arm ontology 25 can be swung in vertical plane.
In addition, being hollow structure inside arm ontology 25, to mitigate weight.
It has been sequentially arranged multiple reinforcing ribs 34 from top to bottom in arm ontology 25, it is strong with the support for improving arm ontology 25
Degree.
It is equipped with air inlet 35 in the lower part of arm ontology 25, for supplying to following No. three air motors.
Include cleaning wheel hub 36 and several sharp portion fixing sleeves 37 as shown in figure 4, taking off and falling device 3.
Wherein, cleaning wheel hub 36 is cylindrical in shape, and horizontal positioned.
Each sharp portion fixing sleeve 37 is placed on cleaning wheel hub 36, and along the uniform cloth of length direction of cleaning wheel hub 36
It sets.
Specifically, each sharp portion fixing sleeve 37 is installed by bolt respectively.
As shown in figure 5, being disposed with several sharp portions 7 in the circumferential direction of each sharp portion fixing sleeve 37.
The quantity of sharp portion 7 is, for example, four, five etc..
A radially installed plate 38 is equipped in the inside of cleaning wheel hub 36.
The end of radially installed plate 38 is installed on the inner wall of cleaning wheel hub 36 by bolt.
Third rotary drive mechanism 6 includes No. three air motors 39.
The effect of radially installed plate 38 is to realize the installation of No. three air motors 39 and cleaning wheel hub 36.
Specifically, the motor base of No. three air motors 39 is installed on the lower end of manipulator arm 2 by bolt.
No. three air motors 39 protrude into cleaning wheel hub 36 from one end of cleaning wheel hub 36.
Mounting hole (not shown) is equipped at the middle part of radially installed plate 38.The output shaft of No. three air motors 39 and above-mentioned peace
Dress is connected by key between hole.In addition, the output shaft end of No. three air motors 39 is installed by round nut 40.
No. three air motors 39 motor base and clear up wheel hub 36 inner wall between angular contact ball bearing 41 is installed.
Angular contact ball bearing 41 for example can there are two.
Angular contact ball bearing 41 carries out axially position using end ring and positioning spacer 42.
In addition, the other end in cleaning wheel hub 36 is equipped with end part seal lid 43 and is connected by screw bolts.
The present embodiment is also equipped with pressure sensor (not shown) on cleaning wheel hub 36.When take off fall device 3 touch it is hardened
Behind coal seam, which can be uploaded to following controllers, acted by controller control third rotary drive mechanism 6.
In the case where No. three air motors 39 drive, 36 high speed rotation of wheel hub is cleared up, sharp portion 7 can realize that hardened coal seam is quickly clear
Reason.
Cabin cleaning machinery hand in the present embodiment has many advantages, such as light structure, applied widely, and cleaning efficiency is high.
Embodiment 2
The present embodiment 2 has addressed a kind of coal bunker block clearing robot, to meet the requirement of block clearing in large-scale ground coal bunker.
The coal bunker block clearing robot includes the cabin cleaning machinery hand in controller, gas source and above-described embodiment 1.Wherein, gas
Source is supplied by the air motor that pipeline is above-mentioned each rotary drive mechanism.
Especially needed explanation, when gas source is that No. three air motors 39 supply, supply air line can pass through arm ontology
The air inlet 35 of 25 lower parts passes through, and then handles arm body 25 downwards, and be connected in the gas circuit of No. three air motors 39.
Controller is driven with the first rotary drive mechanism 4, the second rotary drive mechanism 5, third rotation respectively by route
Mechanism 6 is connected, and the Three Degree Of Freedom control of cabin cleaning machinery hand in above-described embodiment 1 may be implemented in controller.
Certainly, described above is only that presently preferred embodiments of the present invention is answered the present invention is not limited to enumerate above-described embodiment
When explanation, anyone skilled in the art is all equivalent substitutes for being made, bright under the introduction of this specification
Aobvious variant, all falls within the essential scope of this specification, ought to be by protection of the invention.
Claims (10)
1. cabin cleaning machinery hand, which is characterized in that
Including sequentially connected pedestal from top to bottom, manipulator arm and takes off and fall device；
The first rotary drive mechanism for driving the manipulator arm to rotate in the horizontal direction is installed in pedestal；
In manipulator arm upper end configured with the second rotary driving machine for driving the manipulator arm to swing in vertical plane
Structure；
It takes off and falls the lower end that device is installed on manipulator arm, and be arranged horizontally；
Described the third rotary drive mechanism for falling device and rotating around own axes is taken off for driving taking off to fall in device to be equipped with；
The outer surface for falling device of taking off is equipped with the sharp portion for being cleared up hardened coal seam.
2. cabin cleaning machinery hand according to claim 1, which is characterized in that
First rotary drive mechanism, the second rotary drive mechanism, third rotary drive mechanism are all made of pneumatic drive mechanism.
3. cabin cleaning machinery hand according to claim 1, which is characterized in that
Described take off falls there are two devices, is respectively arranged in two opposite side portions of the manipulator arm, and axis is overlapped.
4. cabin cleaning machinery hand according to claim 2, which is characterized in that
The pedestal includes the No.1 base housing set gradually from top to bottom, No. two base housings and No. three base housings；
Wherein, it is bolted between the bottom of No.1 base housing and No. two base housings；
No. two base housings are located at the inside top of No. three base housings；
Angular contact ball bearing is installed between No. two base housings and the top of No. three base housings；
First rotary drive mechanism is located in the No.1 base housing, No. two base housings and No. three base housings；
First rotary drive mechanism includes No.1 air motor and No.1 RV retarder；
The motor base of No.1 air motor is installed on No. two base housings by bolt；
The output shaft of No.1 air motor is connected with No.1 RV retarder, and is fixed by clamping screw；
The output panel of No.1 RV retarder is connected by bolt with No. three base housings.
5. cabin cleaning machinery hand according to claim 4, which is characterized in that
The side of No. two base housings is equipped with a first horizontal placed mesa；
The inside top of No. three base housings is equipped with a second horizontal placed mesa；
First placed mesa and the second placed mesa are equal, and the bottom holding plane of the angular contact ball bearing is collectively formed；
The first postive stop baffle and the second postive stop baffle are further respectively had in the inside top of angular contact ball bearing and outside；
Wherein, it is bolted between the bottom of the first postive stop baffle and No.1 base housing, No. two base housings；
It is bolted between second postive stop baffle and No. three base housings.
6. cabin cleaning machinery hand according to claim 2, which is characterized in that
The manipulator arm includes T-type support frame, live spindle and arm ontology；
The transverse slat of T-type support frame is installed on the middle part of pedestal by bolt；
Second rotary drive mechanism includes No. two air motors and No. two RV retarders；
No. two air motors and No. two RV retarders are located at the two sides of the riser of T-type support frame, in which:
The motor base of No. two air motors is installed on the riser of T-type support frame by bolt；
The output shaft of No. two air motors and No. two RV retarders are connected, and are fixed by clamping screw；
The output panel of No. two RV retarders is connect by bolt with live spindle；
Arm ontology is installed in the live spindle.
7. cabin cleaning machinery hand according to claim 6, which is characterized in that
Shield is equipped on the outside of No. two RV retarder, shield is installed on the riser of T-type support frame by bolt；
The main shaft perforation passed through for the live spindle is equipped on shield；
Positioning spacer is installed, positioning spacer is placed in the live spindle at the main shaft perforation.
8. cabin cleaning machinery hand according to claim 2, which is characterized in that
It is described to take off the cleaning wheel hub and several sharp portion fixing sleeves being placed on cleaning wheel hub for falling that device includes tubular；
A radially installed plate is equipped in the inside of cleaning wheel hub；
The end of radially installed plate is installed on the inner wall of cleaning wheel hub by bolt；
Third rotary drive mechanism includes No. three air motors；
The motor base of No. three air motors is installed on the lower end of manipulator arm by bolt；
No. three air motors protrude into the cleaning wheel hub from one end of cleaning wheel hub；
No. three air motors motor base and clear up wheel hub inner wall between angular contact ball bearing is installed；
It is connected by key between the output shaft and radially installed plate of No. three air motors；
End part seal lid is equipped in the other end of cleaning wheel hub；
Each sharp portion fixing sleeve is evenly arranged along the length direction of the cleaning wheel hub, and each sharp portion fixing sleeve is pacified by bolt
Dress；
Several described sharp portions are disposed in the circumferential direction of each sharp portion fixing sleeve.
9. cabin cleaning machinery hand according to claim 8, which is characterized in that
Pressure sensor is also equipped on the cleaning wheel hub.
10. coal bunker block clearing robot, including controller and cabin cleaning machinery hand；It is characterized in that,
Cabin cleaning machinery hand getting cabin cleaning machinery hand as described in any one of claim 1 to 9；
Controller by route respectively with the first rotary drive mechanism, the second rotary drive mechanism, third rotary drive mechanism phase
Even.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501363.8A CN109747987B (en) | 2018-12-10 | 2018-12-10 | Clear storehouse manipulator and clear stifled robot of coal bunker |
| PCT/CN2018/125978 WO2020118801A1 (en) | 2018-12-10 | 2018-12-30 | Bunker clearing manipulator and coal bunker blockage clearing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811501363.8A CN109747987B (en) | 2018-12-10 | 2018-12-10 | Clear storehouse manipulator and clear stifled robot of coal bunker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109747987A true CN109747987A (en) | 2019-05-14 |
| CN109747987B CN109747987B (en) | 2020-04-28 |
Family
ID=66403500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811501363.8A Active CN109747987B (en) | 2018-12-10 | 2018-12-10 | Clear storehouse manipulator and clear stifled robot of coal bunker |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109747987B (en) |
| WO (1) | WO2020118801A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895801A (en) * | 2021-09-18 | 2022-01-07 | 哈工大机器人智能制造有限公司 | Intelligent cleaning system for material blockage of storage bin and material blockage cleaning method |
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| CN106272345A (en) * | 2016-08-31 | 2017-01-04 | 浙江捷众科技股份有限公司 | A kind of automobile part production line Five-degree-of-freedmanipulator manipulator |
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| CN203544795U (en) * | 2013-11-07 | 2014-04-16 | 北京中科博联环境工程有限公司 | Automatic-measurement arching-preventing stock bin |
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| CN105173446A (en) * | 2015-10-19 | 2015-12-23 | 北京碧福生环保工程设备有限公司 | Arch breaking device |
| CN106272345A (en) * | 2016-08-31 | 2017-01-04 | 浙江捷众科技股份有限公司 | A kind of automobile part production line Five-degree-of-freedmanipulator manipulator |
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| CN113895801A (en) * | 2021-09-18 | 2022-01-07 | 哈工大机器人智能制造有限公司 | Intelligent cleaning system for material blockage of storage bin and material blockage cleaning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109747987B (en) | 2020-04-28 |
| WO2020118801A1 (en) | 2020-06-18 |
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