CN110293105A - A kind of silo inner wall cleaning machine people of Wire driven robot - Google Patents
A kind of silo inner wall cleaning machine people of Wire driven robot Download PDFInfo
- Publication number
- CN110293105A CN110293105A CN201910439234.9A CN201910439234A CN110293105A CN 110293105 A CN110293105 A CN 110293105A CN 201910439234 A CN201910439234 A CN 201910439234A CN 110293105 A CN110293105 A CN 110293105A
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- CN
- China
- Prior art keywords
- cutting
- silo
- driven robot
- elimination
- wire driven
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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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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/0804—Cleaning containers having tubular shape, e.g. casks, barrels, drums
- B08B9/0808—Cleaning containers having tubular shape, e.g. casks, barrels, drums by methods involving the use of tools, e.g. by brushes, scrapers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of silo inner wall cleaning machine people of Wire driven robot, include: cutting and elimination mechanism: including moving platform, being equally spaced the several groups cutting and elimination component on moving platform lower surface in a ring, every group of cutting and elimination component is by the cutting and elimination motor that is fixed on moving platform lower surface and is arranged in a vertical direction and is made of the saw blade that the cutting and elimination motor driven rotates；Wire driven robot mechanism: including being detachably fixed the drive substrate being mounted on silo and being equally spaced several reel assemblies in drive substrate around silo central axis, the flexible cable of a connection moving platform is also drawn downwards from each reel assemblies.Compared with prior art, the silo inner wall cleaning machine people of Wire driven robot of the invention, can replace people to realize the cleaning work of silo inner wall, and arc-shaped guide rail slide block device can change the position of Wire driven robot module, realize bigger working space.
Description
Technical field
The invention belongs to clear up robotic technology field, it is related to a kind of silo inner wall cleaning machine people of Wire driven robot.
Background technique
The solid waste such as dirt mud are inevitably resulted from steel manufacture process, these byproducts can be used for Building wood
Material.Dirt mud is stored in silo by steel plant, and dirt mud will appear hardening during prolonged storage and stick together in bulkhead
Situation, it is therefore desirable to the solid-state adhesion object of periodic cleaning silo inner wall.The cleaning of silo inner wall at present mainly uses artificial hanging basket
Operation, labor intensity of workers is big, risk is high, low efficiency.Silo inner wall cleaning machine people will make one to clear up from dangerous bulkhead
It frees in operation.
Chinese patent ZLCN103963054A discloses a kind of vertical silo cleaning robot, and by hoisting mechanism, hoist cable hangs down
Translation moving platform, umbrella shaped support mechanism, motion arm, end cleaner composition, hoisting mechanism connect mobile platform, branch by hoist cable
Support mechanism, which is assemblied in, vertically moves platform two sides, and motion arm is assemblied in below mobile platform, connects end by hoist cable and clears up hair
Brush.Although the patent is able to achieve the cleaning to vertical silo inner wall, but its position adjusts inconvenience, in addition, stability when cleaning
It is not high.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of cylinders of Wire driven robot
Storehouse inner wall cleaning machine people.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of silo inner wall cleaning machine people of Wire driven robot, comprising:
Cutting and elimination mechanism: including moving platform, it is equally spaced the several groups cutting on moving platform lower surface in a ring
Cleaning assembly, every group of cutting and elimination component is by the cutting and elimination motor that is fixed on moving platform lower surface and along the vertical direction
It arranges and is made of the saw blade that the cutting and elimination motor driven rotates；
Wire driven robot mechanism: including being detachably fixed the drive substrate being mounted on silo and around silo central axis
Several reel assemblies in drive substrate are equally spaced, it is described dynamic flat also to draw a connection downwards from each reel assemblies
The flexible cable of platform.
Further, corresponding reel assemblies quantity is disposed in the central axis that moving platform upper surface is still around its vertical direction
Lifting lug, one end of the flexible cable connects the lifting lug, and the other end is in the reel assemblies.
Further, the cutting and elimination component is equipped with four groups, and the saw blade of two adjacent groups cutting and elimination component is mutually perpendicular to.
Further, the reel assemblies include the winding motor being fixedly mounted in drive substrate and winding electricity
The horizontal reel of machine output end connection, one end of the flexible cable is on the horizontal reel.
Further, the drive substrate includes being detachably fixed the arc-shaped guide rail being mounted on silo end face, sliding peace
On the arc-shaped guide rail and the slide plate that can be moved along it, the reel assemblies are installed on slide plate.
Further, the medial surface of the arc-shaped guide rail is disposed with rack gear along its radian, goes back on the slide plate lower surface
It is disposed with the driving gear engaged with the rack gear.
Further, it there also is provided on slide plate lower surface and led with what outer surface in the arc-shaped guide rail was in rolling contact
Way roller.
Further, the reel assemblies are equipped with three groups.
Compared with prior art, the silo inner wall cleaning machine people of Wire driven robot of the present invention can replace people to realize in silo
The cleaning work of wall, arc-shaped guide rail slide block device can change the position of Wire driven robot module, realize bigger working space.
Detailed description of the invention
Fig. 1 is the schematic front view of the silo inner wall cleaning machine people of Wire driven robot；
Fig. 2 is the schematic diagram at visual angle in front of cutting and elimination mechanism；
Fig. 3 is the schematic diagram at visual angle below cutting and elimination mechanism；
Fig. 4 is the schematic diagram at visual angle in front of Wire driven robot mechanism；
Fig. 5 is the schematic diagram at visual angle above Wire driven robot mechanism；
Description of symbols in figure:
1- silo；
2- cutting and elimination mechanism, the first locking nut of 201-, 202- motor mounting plate, 203- cutting and elimination motor, 204-
Saw blade, 205- moving platform, 206- lifting lug；
3- Wire driven robot mechanism, the second locking nut of 301-, the horizontal reel of 302-, 303- flexible cable, 304- motor support base,
305- winding motor, 306- arc-shaped guide rail, 307- end cap, 308- drive gear, 309- servo deceleration machine, 310- slide plate, 311-
Guide roller.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
"upper" mentioned herein, "lower", " top " are using each orientation shown in FIG. 1 as reference, " inverse time
Needle " is using the direction of rotation of right side saw blade shown in Fig. 2 as reference.
The invention proposes a kind of 1 inner wall cleaning machine people of silo of Wire driven robot, structure is shown in Figure 1, comprising:
Cutting and elimination mechanism 2: referring to shown in Fig. 2 and Fig. 3, including moving platform 205, is equally spaced in a ring dynamic flat
Several groups cutting and elimination component on 205 lower surface of platform, every group of cutting and elimination component is by being fixed on 205 lower surface of moving platform
Cutting and elimination motor 203 and be arranged in a vertical direction and by the cutting and elimination motor 203 driving rotation 204 groups of saw blade
At；
Wire driven robot mechanism 3: referring to shown in Fig. 4-Fig. 5, including being detachably fixed the driving base being mounted on silo 1
Plate and several reel assemblies in drive substrate are equally spaced around 1 central axis of silo, from each reel assemblies also
The flexible cable of a connection moving platform 205 is drawn downwards.
In a kind of specific embodiment of the invention, referring again to shown in Fig. 2 and Fig. 3, the table on moving platform 205
The central axis that face is still around its vertical direction is disposed with the lifting lug 206 of corresponding reel assemblies quantity, one end connection of the flexible cable
The lifting lug 206, the other end is in the reel assemblies.
In a kind of specific embodiment of the invention, referring again to shown in Fig. 2 and Fig. 3, the cutting and elimination component
Equipped with four groups, the saw blade 204 of two adjacent groups cutting and elimination component is mutually perpendicular to.
In a kind of specific embodiment of the invention, referring again to shown in Fig. 4-Fig. 5, the reel assemblies include solid
Winding motor 305 of the Dingan County in the drive substrate, the horizontal reel 302 being connect with 305 output end of winding motor, it is described
One end of flexible cable is on the horizontal reel 302.
In a kind of specific embodiment of the invention, referring again to shown in Fig. 4-Fig. 5, the drive substrate includes can
The arc-shaped guide rail 306 being fixedly mounted on 1 end face of silo is dismantled, is slidably mounted on the arc-shaped guide rail 306 and can be moved along it
Dynamic slide plate 310, installs the reel assemblies on slide plate 310.Further, the medial surface edge of the arc-shaped guide rail 306
Its radian is disposed with rack gear, there also is provided the driving gear 308 engaged with the rack gear on 310 lower surface of slide plate.
Further, it there also is provided on 310 lower surface of slide plate and connect with outer surface rolling in the arc-shaped guide rail 306
The guide roller 311 of touching.
In a kind of specific embodiment of the invention, referring again to shown in Fig. 2-Fig. 5, the reel assemblies, flexible cable
With lifting lug 206 be all provided with there are three or three groups.
Come to carry out further description to any of the above-described embodiment of the present invention below in conjunction with specific embodiment.
Embodiment 1
Referring to Fig. 1-Fig. 5, a kind of silo inner wall cleaning machine people of Wire driven robot, including silo 1, and for clearing up cylinder
The cutting and elimination mechanism 2 of 1 inner wall of storehouse, the Wire driven robot mechanism 3 for being used to control 303 folding and unfolding of flexible cable being mounted on silo 1.Flexible cable
Driving mechanism 3 is connected on silo 1 by fastener, passes through flexible cable 303 between cutting and elimination mechanism 2 and Wire driven robot mechanism 3
Connection.
Wire driven robot mechanism 3 is for controlling position of the cutting and elimination mechanism 2 in 1 inner space of silo, such as Fig. 4-Fig. 5
Shown, winding motor 305 is mounted on slide plate 310, and winding motor 305 rotates forward or reversion will drive horizontal reel 302 just
Turn or reversion, folding and unfolding of the realization to flexible cable 303, flexible cable 303 draw the movement of cutting and elimination mechanism 2.Servo deceleration machine 309 exports
Axis drives to be rotated by the driving gear 308 that end cap 307 is installed, the gear teeth (the i.e. tooth on driving gear 308 and arc-shaped guide rail 306
Item) engagement, drive slide plate 310 to slide on arc-shaped guide rail 306, to change the consolidating in winding motor 305 of flexible cable 303
The position relative to silo 1 is pinpointed, guide roller 311 is rolled in the side of arc-shaped guide rail 306, reduces slide plate 310 and arc
The force of sliding friction of guide rail 306.Coordination will control the finger in cutter device arrival space to three flexible cables through the above way
Positioning is set.
Cutting and elimination mechanism 2 is equipped with four groups of cutting and elimination components, for realizing the cleaning to 1 inner wall of silo, such as Fig. 2-figure
Shown in 3, Wire driven robot mechanism 3 controls cutting and elimination mechanism 2 and reaches bulkhead inner side, and cutting and elimination motor 203 controls saw blade
204 rotate counterclockwise, and cut the solid adhesive on 1 inner wall of silo, realize cleaning.
In the present embodiment, cutting and elimination motor 203 is mounted on moving platform by motor mounting plate 202, cutting and elimination electricity
It is locked between machine 203 and saw blade 204 by the first locking nut.Winding motor 305 is then mounted on cunning by motor support base 304
On plate 310, then locked by the second locking nut 301 between winding motor 305 and horizontal reel 302.
In the present embodiment, it is highly 50m that silo diameter, which is 18m,.
In the above various embodiments or embodiment, unless otherwise instructed, then modular construction used by showing etc. is this
The common components structure or function module in field.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (8)
1. a kind of silo inner wall cleaning machine people of Wire driven robot characterized by comprising
Cutting and elimination mechanism: including moving platform, it is equally spaced the several groups cutting and elimination on moving platform lower surface in a ring
Component, every group of cutting and elimination component is by the cutting and elimination motor that is fixed on moving platform lower surface and is arranged in a vertical direction
And it is made of the saw blade that the cutting and elimination motor driven rotates；
Wire driven robot mechanism: including being detachably fixed the drive substrate being mounted on silo and between silo central axis etc.
Away from several reel assemblies being arranged in drive substrate, a connection moving platform is also drawn downwards from each reel assemblies
Flexible cable.
2. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 1, which is characterized in that in moving platform
The central axis that upper surface is still around its vertical direction is disposed with the lifting lug of corresponding reel assemblies quantity, one end connection of the flexible cable
The lifting lug, the other end is in the reel assemblies.
3. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 1, which is characterized in that the cutting
Cleaning assembly is equipped with four groups, and the saw blade of two adjacent groups cutting and elimination component is mutually perpendicular to.
4. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 1, which is characterized in that the reel
The horizontal reel that component includes the winding motor being fixedly mounted in drive substrate, is connect with the winding motor output end, institute
One end of flexible cable is stated on the horizontal reel.
5. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 1, which is characterized in that the driving
Substrate includes being detachably fixed the arc-shaped guide rail being mounted on silo end face, being slidably mounted on the arc-shaped guide rail and can be along it
Mobile slide plate installs the reel assemblies on slide plate.
6. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 5, which is characterized in that the arc
The medial surface of guide rail is disposed with rack gear along its radian, there also is provided the sliding tooth engaged with the rack gear on the slide plate lower surface
Wheel.
7. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 5, which is characterized in that under slide plate
It there also is provided on surface and outer surface is in rolling contact in the arc-shaped guide rail guide roller.
8. a kind of silo inner wall cleaning machine people of Wire driven robot according to claim 1, which is characterized in that the reel
Component is equipped with three groups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439234.9A CN110293105A (en) | 2019-05-24 | 2019-05-24 | A kind of silo inner wall cleaning machine people of Wire driven robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910439234.9A CN110293105A (en) | 2019-05-24 | 2019-05-24 | A kind of silo inner wall cleaning machine people of Wire driven robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110293105A true CN110293105A (en) | 2019-10-01 |
Family
ID=68027178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910439234.9A Pending CN110293105A (en) | 2019-05-24 | 2019-05-24 | A kind of silo inner wall cleaning machine people of Wire driven robot |
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| Country | Link |
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| CN (1) | CN110293105A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2641010A (en) * | 1947-05-16 | 1953-06-09 | Pittsburgh Pipe Cleaner Compan | Rotary cutter device for pipe cleaners |
| CN2743047Y (en) * | 2004-09-09 | 2005-11-30 | 胡翠霞 | Wheel type pipe cleaner |
| KR20170116317A (en) * | 2016-04-08 | 2017-10-19 | 주식회사 상진 | Rotary Cutter Apparatus Using to remove Fragment of Old Aged Pipe |
| CN107499803A (en) * | 2017-08-15 | 2017-12-22 | 清华大学 | One kind can avoidance rope driving automatic stereowarehouse access device and method |
| CN107813342A (en) * | 2017-10-31 | 2018-03-20 | 西安科技大学 | A kind of wire saws parallel robot Trinity structural stability evaluation method |
| CN207448458U (en) * | 2017-07-24 | 2018-06-05 | 华南农业大学 | A kind of Deep sea net cage cleaning robot of cable parallel drive |
| CN208513256U (en) * | 2018-06-20 | 2019-02-19 | 内蒙古工业大学 | A kind of rotary head of pipeline cleaning machinery |
-
2019
- 2019-05-24 CN CN201910439234.9A patent/CN110293105A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2641010A (en) * | 1947-05-16 | 1953-06-09 | Pittsburgh Pipe Cleaner Compan | Rotary cutter device for pipe cleaners |
| CN2743047Y (en) * | 2004-09-09 | 2005-11-30 | 胡翠霞 | Wheel type pipe cleaner |
| KR20170116317A (en) * | 2016-04-08 | 2017-10-19 | 주식회사 상진 | Rotary Cutter Apparatus Using to remove Fragment of Old Aged Pipe |
| CN207448458U (en) * | 2017-07-24 | 2018-06-05 | 华南农业大学 | A kind of Deep sea net cage cleaning robot of cable parallel drive |
| CN107499803A (en) * | 2017-08-15 | 2017-12-22 | 清华大学 | One kind can avoidance rope driving automatic stereowarehouse access device and method |
| CN107813342A (en) * | 2017-10-31 | 2018-03-20 | 西安科技大学 | A kind of wire saws parallel robot Trinity structural stability evaluation method |
| CN208513256U (en) * | 2018-06-20 | 2019-02-19 | 内蒙古工业大学 | A kind of rotary head of pipeline cleaning machinery |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20191001 |