CN112060102A - Clear stifled manipulator device - Google Patents
Clear stifled manipulator device Download PDFInfo
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- CN112060102A CN112060102A CN202010734787.XA CN202010734787A CN112060102A CN 112060102 A CN112060102 A CN 112060102A CN 202010734787 A CN202010734787 A CN 202010734787A CN 112060102 A CN112060102 A CN 112060102A
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- China
- Prior art keywords
- upright post
- shell
- fixedly connected
- cross arm
- brake
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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
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- 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
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a blockage clearing manipulator device, and belongs to the technical field of blockage clearing robots in storage rooms such as coal bunkers. This clear stifled manipulator device includes: a hanging trolley, a track and a walking mechanism; the traveling mechanism is movably connected on the track and travels along the track; the suspension trolley comprises: the camera comprises a shell with an opening at the bottom, a telescopic upright post, a telescopic cross arm and a camera component, wherein the telescopic upright post, the telescopic cross arm and the camera component are arranged in the shell; the shell is fixedly connected with the traveling mechanism, the bottom end of the upright post is fixedly connected with the top of the shell, the cross arm is perpendicular to the upright post, and the bottom end of the cross arm is fixedly connected with the top end of the upright post; the camera component is fixedly arranged on the cross arm. The blockage clearing manipulator device safely and effectively replaces manpower to solve the problems of unsmooth coal falling and blockage of a coal bunker, and ensures the safety of operating personnel.
Description
Technical Field
The invention relates to the technical field of blockage cleaning robots for storage rooms such as coal bunkers and the like, in particular to a blockage cleaning manipulator device.
Background
In coal bunkers in the fields of underground coal mines and the like, large pieces of gangue often enter the coal bunkers, or waste steel wire ropes, belts, pit wood, water pipes, waste supporting materials and the like enter the mouths of the coal bunkers, or argillaceous shale accumulated coal, bin blockage or coal chute blockage and the like, so that the problems of coal out-flowing or coal out-flowing, bin adhesion, bin blocking, tent blockage and the like are caused. Once the problems occur, most of the existing methods for clearing the blockage and dredging the bin are that operators poke the bin by holding a drill rod, so that the method is very dangerous, and once an accident occurs, the operators are difficult to escape.
Disclosure of Invention
In order to solve the problems, the invention provides a blockage removing manipulator device, which solves the problem that manual blockage removal is needed in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a unblocking robot apparatus comprising: a hanging trolley, a track and a walking mechanism; the traveling mechanism is movably connected on the track and travels along the track; the suspension trolley comprises: the camera comprises a shell with an opening at the bottom, a telescopic upright post, a telescopic cross arm and a camera component, wherein the telescopic upright post, the telescopic cross arm and the camera component are arranged in the shell; the shell is fixedly connected with the traveling mechanism, the bottom end of the upright post is fixedly connected with the top of the shell, the cross arm is perpendicular to the upright post, and the bottom end of the cross arm is fixedly connected with the top end of the upright post; the camera component is fixedly arranged on the cross arm.
As a further improvement of the invention, the track is made of I-shaped steel; the running gear includes: the inner sides of two side walls of the U-shaped connecting piece are respectively and rotatably connected with at least two wheels, and the wheels on the two side walls are respectively positioned on two sides of the I-shaped steel and walk along the edge of the I-shaped steel; the shell is fixedly arranged at the bottom of the U-shaped connecting piece.
As a further improvement of the invention, the upright post and the cross arm are both oil cylinders, and the cylinder body of the cross arm oil cylinder is fixedly connected with the end part of the piston rod of the upright post oil cylinder.
As a further development of the invention, the suspension trolley further comprises: the hydraulic motor, the pinion, the bull gear, the bottom plate and the support column; the meshed small gear and the meshed big gear are rotationally connected to the bottom plate, the small gear is fixedly connected with the output end of the hydraulic motor, and the bottom end of the support column is fixedly connected with the lower surface of the big gear; the cylinder body of the upright post oil cylinder is fixedly connected with the support pillar; the bottom plate is fixedly arranged on the lower surface of the top of the shell.
As a further development of the invention, the suspension trolley further comprises: the sensor gear is rotationally connected to the bottom plate and meshed with the large gear, and the sensor is fixedly arranged at the bottom of the sensor gear.
As a further improvement of the invention, the piston rods of the oil cylinders are respectively provided with a stroke sensor.
As a further improvement of the invention, the method also comprises the following steps: and the controller is electrically connected with the sensor, the stroke sensor and the control valve of each piston rod respectively.
As a further improvement of the present invention, the traveling mechanism further includes: and the output end of the motor penetrates through the side wall of the U-shaped connecting piece and is fixedly connected with the wheel, and the motor is electrically connected with the controller.
As a further development of the invention, the running gear further comprises at least one braking device, which comprises: the brake device comprises a brake oil cylinder, a mounting frame for supporting the brake oil cylinder and a brake; a piston rod of the brake oil cylinder penetrates through the side wall of the U-shaped connecting piece to be fixedly connected with a brake, the brake is positioned on the side face of the wheel, and the bottom end of the mounting frame is fixedly arranged at the top of the shell; the brake oil cylinder is electrically connected with the controller.
As a further improvement of the present invention, a camera head section includes: the device comprises a protective cap, a self-cleaning camera and a mounting base; the mounting base is fixedly arranged on the cross arm oil cylinder body, the self-cleaning camera is arranged on the mounting base, and the protective cap is arranged at the top of the self-cleaning camera.
The blockage clearing manipulator device safely and effectively replaces manpower to solve the problems of unsmooth coal falling and blockage of a coal bunker, and ensures the safety of operating personnel.
Drawings
FIG. 1 is a schematic structural diagram of a blockage removing manipulator device in an embodiment;
FIG. 2 is a schematic structural diagram of a suspended trolley in the embodiment;
FIG. 3 is a schematic structural diagram of a vertical column and a cross arm in the embodiment;
fig. 4 is a schematic structural diagram of a suspended trolley in another embodiment.
Fig. 5 is a schematic structural diagram of a camera component in an embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment provides a blockage removing manipulator device, as shown in fig. 1-3, including: the suspension trolley 1, the track 2 and the travelling mechanism; the traveling mechanism is movably connected to the track 2 and travels along the track 2; the suspension trolley 1 comprises: a shell 3 with an opening at the bottom, a telescopic upright post 4 arranged in the shell 3, a telescopic cross arm 5 and a camera head part 6; the shell 3 is fixedly connected with the traveling mechanism, the bottom end of the upright post 4 is fixedly connected with the top of the shell 3, the cross arm 5 is vertically arranged with the upright post 4, and the bottom end of the cross arm 5 is fixedly connected with the top end of the upright post 4; the camera part 6 is fixed on the cross arm 5.
In the embodiment, the rail 2 is an I-shaped steel; the running gear includes: the device comprises a U-shaped connecting piece 7 and a plurality of wheels 8, wherein the inner sides of two side walls of the U-shaped connecting piece 7 are respectively and rotatably connected with at least two wheels 8, and the wheels 8 on the two side walls are respectively positioned on two sides of the I-shaped steel and walk along the edge of the I-shaped steel; the shell 3 is fixedly arranged at the bottom of the U-shaped connecting piece 7.
In the embodiment, as shown in fig. 3, the upright column 4 and the cross arm 5 are both oil cylinders, and the piston rods of the oil cylinders are controlled by respective control valves. The cross arm 5 oil cylinder body is fixedly connected with the end part of the oil cylinder piston rod of the upright post 4. Preferably, the piston rods of the oil cylinders are respectively provided with a stroke sensor.
In an embodiment, as shown in fig. 4, the suspension trolley 1 further comprises: a hydraulic motor 11, a pinion 12, a bull gear 13, a bottom plate 14 and a support column 15; the meshed small gear 12 and the large gear 13 are rotationally connected to a bottom plate 14, the small gear 12 is fixedly connected with the output end of the hydraulic motor 11, and the bottom end of the support column 15 is fixedly connected with the lower surface of the large gear 13; the cylinder body of the oil cylinder of the upright post 4 is fixedly connected with the supporting column 15; the bottom plate 14 is fixedly arranged on the lower surface of the top of the shell 3.
In an embodiment, the suspension trolley 1 further comprises: the sensor gear 16 is rotatably connected to the bottom plate 14, the sensor gear 16 is meshed with the large gear 13, and the sensor 17 is fixedly arranged at the bottom of the sensor gear 16.
The clear stifled manipulator device of embodiment still includes: and the controller is respectively and electrically connected with the sensor 17, the stroke sensor and the control valve of each piston rod. The controller in the embodiment can be existing equipment such as a PLC (programmable logic controller), a singlechip and the like.
The running gear in an embodiment further comprises: at least one motor 9, the output of motor 9 runs through the lateral wall of U type connecting piece 7 to link firmly with wheel 8, motor 9 is connected with the controller electricity.
The running gear in the embodiment further comprises at least one brake device 10, which comprises: the brake device comprises a brake oil cylinder 101, a mounting frame 102 for supporting the brake oil cylinder 101 and a brake; a piston rod of the brake oil cylinder 101 penetrates through the side wall of the U-shaped connecting piece 7 to be fixedly connected with a brake, the brake is positioned on the side face of the wheel 8, and the bottom end of the mounting frame 102 is fixedly arranged at the top of the shell 3; the brake cylinder 101 is electrically connected with the controller.
In the above embodiment, two wheels are preferably arranged on two sides of the track, the wheel 8 connected with the motor 9 is a driving wheel, the rest are driven wheels, and the driven wheels located on the same side as the driving wheel are provided with the brake device 10. When braking is needed, the motor 9 stops running, the piston rod of the brake oil cylinder 101 is pushed out, the brake is in contact with the driven wheel, and therefore braking of the travelling mechanism is achieved.
As shown in fig. 5, the camera part 6 in the embodiment includes: a protective cap 61, a self-cleaning camera 62 and a mounting base 63; the mounting base 63 is fixedly arranged on the cylinder body of the cross arm 5, the self-cleaning camera 62 is arranged on the mounting base 63, and the protective cap 61 is arranged at the top of the self-cleaning camera 62. The protective cap 61 has the function of preventing hard objects from falling to damage the camera and prevent dust, the self-cleaning camera 62 has the function of self-cleaning dust, the mounting base 63 has the function of a cloud deck, and the angle of the self-cleaning camera 62 is adjusted according to the field condition.
In the blockage removing manipulator device in the embodiment, the hydraulic motor 11 drives the large gear 13 to rotate through the small gear 12, and the large gear 13 drives the upright post 4 to rotate through the support pillar 15; the large gear 13 drives a sensor 17 to rotate through a sensor gear 16, and the sensor 17 feeds back related data to the controller; the upright cylinder and the cross arm cylinder are controlled by corresponding piston rod control valves to extend and retract positions and speeds, and data are fed back to the controller through respective stroke sensors.
When in use, the blockage removing mechanical hand device is arranged on the maintenance platform; when the blockage is required to be cleared, the blockage clearing manipulator device moves to the access hole along the track 2; the vertical column 4 of the blockage removing mechanical arm device vertically extends downwards from the shell according to the height requirement; and rotating the large gear 13 according to the position requirement, extending the cross arm 5 according to the horizontal length requirement, and controlling the rotation of the large gear 13, the lifting of the upright post 4 and the stretching of the cross arm 5 to clear the blockage according to the information transmitted by the camera.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A blockage clearing manipulator device is characterized by comprising: the suspension trolley (1), the track (2) and the walking mechanism; the walking mechanism is movably connected on the track (2) and walks along the track (2); the suspension trolley (1) comprises: the device comprises a shell (3) with an opening at the bottom, a telescopic upright post (4) arranged in the shell (3), a telescopic cross arm (5) and a camera part (6); the shell (3) is fixedly connected with the traveling mechanism, the bottom end of the upright post (4) is fixedly connected with the top of the shell (3), the transverse arm (5) is vertically arranged with the upright post (4), and the bottom end of the transverse arm (5) is fixedly connected with the top end of the upright post (4); the camera component (6) is fixedly arranged on the cross arm (5).
2. A unblocking manipulator device according to claim 1, characterized in that the rail (2) is an i-steel; the running gear includes: the wheel assembly comprises a U-shaped connecting piece (7) and a plurality of wheels (8), wherein the inner sides of two side walls of the U-shaped connecting piece (7) are respectively and rotatably connected with at least two wheels (8), and the wheels (8) on the two side walls are respectively positioned on two sides of the I-shaped steel and walk along the edge of the I-shaped steel; the shell (3) is fixedly arranged at the bottom of the U-shaped connecting piece (7).
3. The blockage removing mechanical hand device according to claim 2, wherein the upright post (4) and the cross arm (5) are both oil cylinders, and the cylinder body of the oil cylinder of the cross arm (5) is fixedly connected with the end part of the oil cylinder piston rod of the upright post (4).
4. A block clearing robot device according to claim 3, characterized in that the suspension trolley (1) further comprises: the hydraulic control device comprises a hydraulic motor (11), a pinion (12), a bull gear (13), a bottom plate (14) and a support column (15); a pinion (12) and a bull gear (13) which are meshed with each other are rotatably connected to a bottom plate (14), the pinion (12) is fixedly connected with the output end of the hydraulic motor (11), and the bottom end of a support column (15) is fixedly connected with the lower surface of the bull gear (13); the cylinder body of the oil cylinder of the upright post (4) is fixedly connected with the support pillar (15); the bottom plate (14) is fixedly arranged on the lower surface of the top of the shell (3).
5. The unblocking manipulator device according to claim 4, wherein the suspension trolley (1) further comprises: the sensor gear (16) is rotatably connected to the bottom plate (14), the sensor gear (16) is meshed with the large gear (13), and the sensor (17) is fixedly arranged at the bottom of the sensor gear (16).
6. The manipulator device according to claim 5, wherein stroke sensors are respectively provided in the piston rods of the cylinders.
7. The clear stifled manipulator device of claim 6, further comprising: and the controller is electrically connected with the sensor (17), the stroke sensor and the control valve of each piston rod respectively.
8. The blockage-removing manipulator device according to claim 2, wherein the walking mechanism further comprises: the output end of the motor (9) penetrates through the side wall of the U-shaped connecting piece (7) and is fixedly connected with the wheel (8), and the motor (9) is electrically connected with the controller.
9. A unblocking manipulator device according to claim 8, characterized in that the travelling mechanism further comprises at least one brake device (10) comprising: the brake device comprises a brake oil cylinder (101), a mounting frame (102) for supporting the brake oil cylinder (101) and a brake; a piston rod of the brake oil cylinder (101) penetrates through the side wall of the U-shaped connecting piece (7) to be fixedly connected with a brake, the brake is positioned on the side face of the wheel (8), and the bottom end of the mounting frame (102) is fixedly arranged at the top of the shell (3); the brake oil cylinder (101) is electrically connected with the controller.
10. A unblocking manipulator device according to claim 3, characterized in that the camera member (6) comprises: the device comprises a protective cap (61), a self-cleaning camera (62) and a mounting base (63); the mounting base (63) is fixedly arranged on the cylinder body of the cross arm (5) oil cylinder, the self-cleaning camera (62) is arranged on the mounting base (63), and the protective cap (61) is arranged at the top of the self-cleaning camera (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010734787.XA CN112060102A (en) | 2020-07-27 | 2020-07-27 | Clear stifled manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010734787.XA CN112060102A (en) | 2020-07-27 | 2020-07-27 | Clear stifled manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112060102A true CN112060102A (en) | 2020-12-11 |
Family
ID=73657644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010734787.XA Pending CN112060102A (en) | 2020-07-27 | 2020-07-27 | Clear stifled manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112060102A (en) |
-
2020
- 2020-07-27 CN CN202010734787.XA patent/CN112060102A/en active Pending
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