CN112192580A - Robot for removing crusts and slag in vertical barrel warehouse - Google Patents
Robot for removing crusts and slag in vertical barrel warehouse Download PDFInfo
- Publication number
- CN112192580A CN112192580A CN202010929242.4A CN202010929242A CN112192580A CN 112192580 A CN112192580 A CN 112192580A CN 202010929242 A CN202010929242 A CN 202010929242A CN 112192580 A CN112192580 A CN 112192580A
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- platform
- oil cylinder
- cylinder
- robot
- slag
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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
Abstract
The invention discloses a robot for removing crusts and slag in a vertical barrel warehouse, which comprises a rotary platform and an upper platform, wherein the rotary platform and the upper platform are driven by rotation and fixedly connected by using high-strength bolts, a working device is fixedly connected in front of the rotary platform, a power system is installed in the rotary platform, and the upper end of the upper platform is respectively and rotatably connected with a first folding oil cylinder and a second folding oil cylinder through folding oil cylinder pin shafts. The telescopic arm assembly is extended out when the equipment arrives at a working place, so that the striking range is enlarged, the equipment has a good slag removal effect, and meanwhile, the motor controls the telescopic oil cylinder of the upper platform through hydraulic transmission, so that the telescopic oil cylinder of the upper platform can be extended out and retracted, and the equipment has a good transportation space.
Description
Technical Field
The invention relates to the technical field of engineering robots, in particular to a robot for removing crusts and slag in a vertical barrel warehouse.
Background
The high-altitude chimney slag removal operation is available in industries such as cement, steel and the like, the most effective method at present is high-altitude chlorophytum comosum operation, and the adopted method comprises the following steps: the top of the hanging basket is provided with a winch, the lower part of the hanging basket is provided with a hanging basket, the hanging basket is driven by the traction force of the winch, three people stand on the hanging basket, two people use bamboo poles to support the wall surface, the other people use tools to knock the smoke slag on the wall surface, and the three people need to be matched with each other to realize a very tacit.
Due to the fact that visibility in the chimney is low, dust is large, constructors cannot work for a long time, efficiency is low, the height of the chimney generally reaches about 70 m, and the constructors can also have psychological obstacles.
With the continuous improvement of living standard, less and less people are willing to do the high-risk work, and now an equipment is urgently needed to replace workers to carry out high-altitude slag removal construction, and a high-altitude slag removal robot is used for the high-altitude slag removal construction.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a robot for removing the crust and the slag of a vertical barrel warehouse.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a found bucket storehouse scarfing cinder robot, includes rotary platform and upper mounting plate, rotary platform and upper mounting plate pass through rotary drive and use high strength bolt fixed connection, rotary platform the place ahead fixedly connected with equipment, rotary platform internally mounted has driving system, the upper end of upper mounting plate rotates respectively through folding hydro-cylinder round pin axle and is connected with first folding hydro-cylinder and the folding hydro-cylinder of second, the unfixed end of first folding hydro-cylinder and the folding hydro-cylinder of second rotates respectively through first telescopic hydro-cylinder round pin axle, the telescopic hydro-cylinder round pin axle of second and is connected with the landing leg frame, the upper end of upper mounting plate articulates there is the third folding hydro-cylinder, the end of third folding hydro-cylinder articulates there is the telescopic hydro-cylinder of third, one side the landing leg frame has first telescopic hydro-cylinder through first landing leg frame round pin axle and second landing leg frame round pin axle fixedly connected with second telescopic hydro-cylinder, opposite side the landing leg frame has the second And an oil cylinder is retracted.
Preferably, the rotary platform can rotate 360 degrees relative to the upper platform.
Preferably, the working device comprises a telescopic arm assembly, a hydraulic pick is installed at the tail end of the telescopic arm assembly, and the telescopic arm assembly comprises a large arm, a second arm and a third arm.
Preferably, the outer ring of the rotary drive is connected with the upper platform through bolts, and the inner ring of the rotary drive is connected with the rotary platform through bolts.
Preferably, the power system comprises a motor, a radiator and a hydraulic pump, and the motor, the radiator and the hydraulic pump are fixedly connected with the rotary platform through bolts.
Preferably, the front ends of the first telescopic oil cylinder, the second telescopic oil cylinder and the third telescopic oil cylinder are all provided with rubber blocks, and counter bores are formed in the rubber blocks.
The invention has the following beneficial effects:
1. the telescopic arm assembly is scientific and reasonable in structure and safe and convenient to use, the equipment has a good striking effect through the extension and retraction of the working device, when an object needs to be struck, the power system drives the telescopic oil cylinder to extend and retract, the working device moves through hydraulic transmission, and when the equipment reaches a working place, the telescopic arm assembly extends out, so that the striking range is expanded, and the equipment has a good slag removal effect;
2. through setting up upper mounting plate, folding hydro-cylinder and flexible hydro-cylinder, the folding hydro-cylinder of upper mounting plate is controlled through hydraulic drive to the motor, lets the first flexible hydro-cylinder of upper mounting plate and the flexible hydro-cylinder of second stretch out and withdraw for equipment has fine transportation space.
Drawings
FIG. 1 is a schematic structural diagram of a robot for cleaning crusts and slag in a vertical barrel warehouse in a construction state;
FIG. 2 is a schematic structural diagram of a vertical barrel warehouse peeling and slag removing robot in a necking state 1;
FIG. 3 is a schematic structural view of a robot for removing crusts and slag in a vertical barrel warehouse in a necking state 2;
fig. 4 is a structural schematic diagram of the robot for removing crusts and slag in the vertical barrel warehouse in the minimum transportation state.
In the figure: the device comprises a rotary platform 1, a power system 2, a telescopic arm assembly 3, a first telescopic oil cylinder 4, a second telescopic oil cylinder 5, a rotary drive 6, a first folding oil cylinder 7, a second folding oil cylinder 8, a support leg frame 9, an upper platform 10, a third telescopic oil cylinder 11, a third folding oil cylinder 12, a first telescopic oil cylinder pin 13, a second telescopic oil cylinder pin 14, a first support leg frame pin 15, a second support leg frame pin 16, a third support leg frame pin 17 and a fourth support leg frame pin 18.
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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-4, a robot for removing crusts and slag in a vertical barrel warehouse comprises a rotary platform 1 and an upper platform 10, wherein the rotary platform 1 and the upper platform 10 are fixedly connected through a rotary drive 6 by using a high-strength bolt, the rotary platform 1 can rotate 360 degrees relative to the upper platform 10, universal wheels are installed below a bottom plate of the rotary platform 1, and the robot can walk and change the walking angle through traction.
1 the place ahead fixedly connected with equipment of rotary platform, equipment include flexible arm assembly 3, and hydraulic pickaxe is installed to the end of flexible arm assembly 3, can change outfit such as hydraulic hammer, hydraulic pressure are cut, grab bucket, bucket fast simultaneously, realizes multi-functional operation, promotes the operating efficiency, and flexible arm assembly 3 is including big arm, two arms and three arms.
In order to keep the hydraulic pick in the best striking posture, the two arms adopt telescopic mechanisms to improve the operation range, and the three arms are connected with the hydraulic pick through the connecting rod rocking rod, so that the hydraulic pick can be switched in multiple angles, accessories of different types can be selected on the hydraulic pick, and the hydraulic pick can be broken and disassembled in different grades, cleaned and the like.
The outer ring of the rotary drive 6 is connected with the upper platform 10 through bolts, the inner ring of the rotary drive 6 is connected with the rotary platform 1 through bolts, the rotary drive 6 is provided with a rotary motor, and the rotary motor realizes 360-degree rotation of the rotary platform 1 and has certain self-locking characteristic.
Revolving platform 1 internally mounted has driving system 2, and driving system 2 includes motor, radiator and hydraulic pump, and motor, radiator and hydraulic pump all pass through bolt and revolving platform 1 fixed connection, conveniently overhaul the dismantlement.
The upper end of the upper platform 10 is respectively and rotatably connected with a first folding oil cylinder 7 and a second folding oil cylinder 8 through folding oil cylinder pin shafts, unfixed ends of the first folding oil cylinder 7 and the second folding oil cylinder 8 are respectively and rotatably connected with a supporting leg frame 9 through a first telescopic oil cylinder pin shaft 13 and a second telescopic oil cylinder pin shaft 14, the upper end of the upper platform 10 is hinged with a third folding oil cylinder 12, the tail end of the third folding oil cylinder 12 is hinged with a third telescopic oil cylinder 11, the supporting leg frame 9 on one side is fixedly connected with a first telescopic oil cylinder 4 through a first supporting leg frame pin shaft 15 and a second supporting leg frame pin shaft 16, and the supporting leg frame 9 on the other side is fixedly connected with a second telescopic oil cylinder 5 through a third supporting leg frame pin shaft 17 and a fourth supporting.
The front ends of the first telescopic oil cylinder 4, the second telescopic oil cylinder 5 and the third telescopic oil cylinder 11 are all provided with rubber blocks, counter bores are formed in the rubber blocks, and the rubber blocks are fixedly connected with the telescopic oil cylinders where the rubber blocks are located through hexagon socket head cap bolts.
The copper bush and the shaft sleeve are arranged outside all the pin shafts, and lubricating oil is injected into gaps to reduce abrasion caused by friction to the maximum extent.
In the invention, the device is firstly towed to a designated place through a universal wheel below the rotary platform 1. Four corners of the upper platform 10 are provided with four hoisting positions, the equipment is hoisted by a hoist at the high-altitude chimney, the first telescopic oil cylinder 4, the second telescopic oil cylinder 5 and the working device are in a withdrawing state (as shown in figure 2) in the hoisting process, and the state can be contracted through the high-altitude chimney with the common size.
When the size of the over-necking is required to be further reduced, the third telescopic oil cylinder 11 is driven to swing downwards and upwards by the stretching of the third folding oil cylinder 12, so that the size of the equipment is further reduced, and the state is an over-necking state 2 (as shown in fig. 3).
When the equipment reaches the working position, the first folding oil cylinder 7 and the second folding oil cylinder 8 extend out to push the supporting leg frame 9 to expand outwards, and the first telescopic oil cylinder 4, the second telescopic oil cylinder 5 and the third telescopic oil cylinder 11 extend out to abut against the inner wall of the high-altitude chimney, so that the equipment is fixed at the working position. Meanwhile, the telescopic arm assembly 3 extends out, the striking range can be adjusted by two arms of the telescopic arm assembly 3 according to the tobacco residues at different positions, the first telescopic oil cylinder 4, the second telescopic oil cylinder 5 and the third telescopic oil cylinder 11 retract after the tobacco residues are cleaned in the current striking range, and the winch continuously hoists the equipment downwards to reach another work cleaning area.
When the equipment is transported, the first telescopic oil cylinder 4, the second telescopic oil cylinder 5 and the third telescopic oil cylinder 11 retract, the first telescopic oil cylinder 4 and the second telescopic oil cylinder 5 on two sides are fixed with the supporting leg frame 9 through two supporting leg frame pin shafts respectively in the working state, and the first telescopic oil cylinder 4 and the second telescopic oil cylinder 5 on two sides can move in the transportation state due to the fact that one supporting leg frame pin shaft can be detached on two sides respectively, so that the first telescopic oil cylinder 4 and the second telescopic oil cylinder 5 on two sides can be folded manually. The first folding oil cylinder 7 and the second folding oil cylinder 8 drive the supporting leg frame 9 to retract, and meanwhile, the third telescopic oil cylinder 11 swings downwards, so that the equipment reaches a minimum volume state, and space is saved during transportation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The utility model provides a clear scarfing cinder robot of vertical barrel storehouse, includes rotary platform (1) and last platform (10), its characterized in that, rotary platform (1) and last platform (10) are through rotary drive (6) and use high strength bolt fixed connection, rotary platform (1) the place ahead fixedly connected with equipment, rotary platform (1) internally mounted has driving system (2), the upper end of going up platform (10) is connected with first folding hydro-cylinder (7) and second folding hydro-cylinder (8) through folding hydro-cylinder round pin axle rotation respectively, first folding hydro-cylinder (7) and second folding hydro-cylinder (8) do not fix the end and rotate through first flexible hydro-cylinder round pin axle (13), second flexible hydro-cylinder round pin axle (14) respectively and be connected with landing leg frame (9), the upper end of going up platform (10) articulates there is third folding hydro-cylinder (12), the end of third folding hydro-cylinder (12) articulates there is third flexible hydro-cylinder (11), one side the landing leg frame (9) is fixedly connected with a first telescopic oil cylinder (4) through a first landing leg frame pin shaft (15) and a second landing leg frame pin shaft (16), and the other side the landing leg frame (9) is fixedly connected with a second telescopic oil cylinder (5) through a third landing leg frame pin shaft (17) and a fourth landing leg frame pin shaft (18).
2. The robot for removing the crust and the slag in the vertical barrel warehouse as claimed in claim 1, wherein the rotary platform (1) can rotate 360 degrees relative to the upper platform (10).
3. The robot for removing crusts and slag in the vertical barrel warehouse according to claim 1, wherein the working device comprises a telescopic arm assembly (3), a hydraulic pick is installed at the tail end of the telescopic arm assembly (3), and the telescopic arm assembly (3) comprises a large arm, a second arm and a third arm.
4. The robot for removing crust and slag in the vertical barrel warehouse as claimed in claim 1, wherein the outer ring of the rotary drive (6) is connected with the upper platform (10) through bolts, and the inner ring of the rotary drive (6) is connected with the rotary platform (1) through bolts.
5. The robot for removing crusts and slag in the vertical barrel warehouse as claimed in claim 1, wherein the power system (2) comprises a motor, a radiator and a hydraulic pump, and the motor, the radiator and the hydraulic pump are fixedly connected with the rotary platform (1) through bolts.
6. The robot for removing crust and slag in the vertical barrel warehouse as claimed in claim 1, wherein rubber blocks are arranged at the front ends of the first telescopic oil cylinder (4), the second telescopic oil cylinder (5) and the third telescopic oil cylinder (11), and counter bores are formed in the rubber blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010929242.4A CN112192580A (en) | 2020-09-07 | 2020-09-07 | Robot for removing crusts and slag in vertical barrel warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010929242.4A CN112192580A (en) | 2020-09-07 | 2020-09-07 | Robot for removing crusts and slag in vertical barrel warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192580A true CN112192580A (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010929242.4A Pending CN112192580A (en) | 2020-09-07 | 2020-09-07 | Robot for removing crusts and slag in vertical barrel warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112192580A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
| CN115815227A (en) * | 2022-11-23 | 2023-03-21 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with breaking open robot |
| CN115854373A (en) * | 2022-11-23 | 2023-03-28 | 安徽恒创智能装备有限公司 | Decomposing furnace crusting cleaning robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635309A (en) * | 2021-09-02 | 2021-11-12 | 安徽恒创智能装备有限公司 | Bulk material warehouse cleaning robot and construction method thereof |
| CN115815227A (en) * | 2022-11-23 | 2023-03-21 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with breaking open robot |
| CN115854373A (en) * | 2022-11-23 | 2023-03-28 | 安徽恒创智能装备有限公司 | Decomposing furnace crusting cleaning robot |
| CN115815227B (en) * | 2022-11-23 | 2023-09-01 | 安徽恒创智能装备有限公司 | Decomposing furnace clearance is with broken robot of tearing open |
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Application publication date: 20210108 |
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