CN113042476A - Full-automatic visual cement warehouse cleaning device - Google Patents
Full-automatic visual cement warehouse cleaning device Download PDFInfo
- Publication number
- CN113042476A CN113042476A CN202110291977.3A CN202110291977A CN113042476A CN 113042476 A CN113042476 A CN 113042476A CN 202110291977 A CN202110291977 A CN 202110291977A CN 113042476 A CN113042476 A CN 113042476A
- Authority
- CN
- China
- Prior art keywords
- arm
- supporting
- support
- frame
- rotary
- Prior art date
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 59
- 239000004568 cement Substances 0.000 title claims abstract description 53
- 230000000007 visual effect Effects 0.000 title claims abstract description 20
- 230000008093 supporting effect Effects 0.000 claims abstract description 55
- 238000005520 cutting process Methods 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000010521 absorption reaction Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000035939 shock Effects 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 claims description 2
- 230000004297 night vision Effects 0.000 claims description 2
- 238000005121 nitriding Methods 0.000 claims description 2
- 238000013021 overheating Methods 0.000 claims description 2
- 238000007599 discharging Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000017105 transposition Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
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
- B08B9/087—Cleaning containers, e.g. tanks by methods involving the use of tools, e.g. brushes, scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
A full-automatic visual cement warehouse cleaning device comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system; the method is characterized in that: hoisting machine constructs and includes: the device comprises a winch, a winch support and a hoisting steel wire rope; the support mechanism includes: the device comprises an installation base, an upper unfolding device, an upper supporting device, a supporting arm inclination angle sensor and a spring shock absorption support, wherein the upper supporting device consists of three supporting telescopic arms with three sections; the descending rotation mechanism includes: the device comprises a vertical moving cylinder, a lower mounting base, a lower part unfolding device, a rotary supporting device, a guide travelling wheel and a rotary arm inclination angle sensor, wherein the rotary supporting device consists of three rotary supporting telescopic arms; the wiper mechanism includes: cutting cutter dish, cutting motor, frame inclination sensor, frame jar, camera. The invention can realize multi-angle visual cleaning of the cement silo and is suitable for cleaning treatment of cement silos of various specifications and sizes.
Description
Technical Field
The invention relates to the technical field of cement warehouse cleaning and crushing, in particular to a full-automatic visual cement warehouse cleaning and crushing device for cement warehouse cleaning.
Background
The cement must be subjected to physical inspection of a certain age, and can leave a factory after being qualified, so a cement plant must be provided with a cement warehouse with a certain capacity. In the production process, the water brought along with the mixed material during grinding can cause the cement to be pre-hydrated to cause the cement in the cement warehouse to agglomerate, a large amount of materials can be retained in the warehouse after a certain time to cause difficult discharging, and the cement warehouse is a cylindrical structure for storing the cement, the size of the cement warehouse is very large, the internal environment is severe, the warehouse cleaning work is determined to be dangerous, the warehouse cleaning work needs to be carried out in the environment with great dust pollution, if the underground warehouse is manually cleaned, collapse and burying accidents easily occur, and the efficiency is not high, so the warehouse cleaning device is necessary to clean the warehouse. The general warehouse cleaning device adopts manual assistance and only cleans the parts above the discharge bin, and the parts below the discharge bin are cleaned by manual warehouse entry, so that the danger is still very high in practice, the cleaned cement can be accumulated on the lower part in a large amount, and secondary dust raising of materials is easily caused by the walking of people or the contact between tools and the materials in the warehouse cleaning operation, so that the environment in the warehouse is worse. The device for cleaning the cement silo disclosed in patent CN 210456001U uses three steel wire ropes to lift the whole device, the structure is difficult to realize the cleaning of the whole plane in the circumferential direction and below the discharging bin, and the vibration generated in the cleaning process can cause the device to be difficult to control; the multi-angle automatic cement warehouse cleaning machine disclosed by the patent CN 209647150U lacks a stable supporting device, and effective transposition is difficult to realize when a transposition motor is arranged below a steel wire rope; the cement warehouse cleaning device disclosed by patent CN 110615192A does not have effective control that control system and corresponding sensor can't realize the warehouse cleaning in-process, and two arms of belt cleaning device need carry out the warehouse cleaning operation, consequently can't play effectual supporting role, and the hoist and mount operation of being not convenient for of whole device. Therefore, the invention is necessary to invent a full-automatic high-efficiency cement warehouse cleaning device.
Disclosure of Invention
The invention aims to: the invention provides a full-automatic cement silo cleaning device, aiming at solving the problems that the existing cement silo adopts manual cleaning, the dust hurts the health of personnel, the labor amount is large and the cleaning is incomplete.
The technical solution of the invention is as follows: a full-automatic visual cement warehouse cleaning device mainly comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system; the method is characterized in that: hoisting machine constructs and includes: the device comprises a winch, a winch support and a hoisting steel wire rope; the support mechanism includes: the device comprises an installation base, an upper unfolding device, an upper supporting device and a supporting arm inclination angle sensor, wherein the upper supporting device comprises three supporting telescopic arms, and each supporting telescopic arm is driven by a moving cylinder to drive three telescopic arms and a spring shock absorption support; the descending rotation mechanism includes: the rotary support device comprises three rotary support telescopic arms, and each rotary support telescopic arm is driven by the moving cylinder to drive three telescopic arms and a guide travelling wheel; the wiper mechanism is terminal at the rotation support device, and every set of wiper mechanism includes: the cutting cutter head, the driving motor, the frame inclination angle sensor, the frame cylinder and the camera, wherein the winch is arranged on the mounting surface of a winch support through bolts, the tail end of a hoisting steel wire rope wound on the winch is connected with a lifting bolt, the lifting bolt is arranged on the mounting base through threads, the upper supporting device is connected with the mounting base through a shaft pin, the upper moving cylinder is fixedly arranged at the tail end of a basic arm of the telescopic arm through a flange, a wing plate of the basic arm is welded with the end surface of a gear, the gear is meshed with a lifting piece driven by the lifting cylinder, the mounting surface for supporting the tail end of the telescopic arm is fixed with the spring damping support through a screw, the mounting surface of the support arm inclination angle sensor is fixed on the upper mounting surface for supporting the telescopic arm basic arm through a screw, a flange plate on the lifting cylinder of the upper unfolding, the vertical moving cylinder is fixed with the mounting base and the lower mounting base by screws, a flange plate on a lower unfolding device is also fixed in an inner cavity at the lower end of the lower mounting base by screws in a vertical coaxial manner, a rotating arm inclination angle sensor is fixed on an upper mounting surface of a basic arm of a rotary telescopic arm by screws, the tail ends of three rotary support telescopic arms are respectively fixed with an upper mounting plate and a lower mounting plate of a wheel carrier of a guide travelling wheel by bolt connection, a group of guide travelling wheels are provided with two idler wheels which can independently control rotation, each idler wheel is driven by a motor, a cutting cutter disc is driven by a cutting motor, the cutting motor is arranged on a frame by a flange, wing plates at two ends of the frame cylinder are connected with a wing plate under a third section of the rotary support telescopic arm and a side wing plate of the frame by a pin shaft, an upper wing plate, forming a triangular structure, wherein the mounting surface of the frame tilt angle sensor is parallelly mounted on the outer mounting surface of the frame by using screws, and the camera is fixed on the lower mounting plate of the wheel carrier of the guide travelling wheel by using screws; the supporting telescopic arm and the rotating supporting telescopic arm are made of aluminum alloy materials, are of thin-wall structures, adopt bolt type telescopic structures, and adopt servo electric cylinders as the vertical moving cylinder, the upper moving cylinder and the lower moving cylinder, so that hydraulic oil leakage pollution can be avoided, and access to a PLC control system is facilitated; the lifting part is of a cylindrical structure with teeth on the outer surface, 20CrMnTi is selected as a gear and a lifting part material, nitriding treatment is carried out on the surface, the bearing capacity is improved, the lifting cylinder is an electric cylinder and drives the lifting part to move up and down, and the lifting part can drive the three telescopic arms to simultaneously expand and retract through meshing with the gear; the guide travelling wheel adopts a tapered roller bearing, the roller adopts a Mecanum wheel, the transverse and longitudinal movement can be realized, the hub and the small rolling wheel adopt aviation aluminum alloy materials, and the small rolling wheel is provided with a rubber sleeve; the motor of the guide travelling wheel adopts a servo motor, a motor driving circuit adopts a TB6612FNG chip, the motor driving circuit has a high-current MOSFET-H bridge structure, and 2 motors can be driven simultaneously by the output of a double-channel circuit. An overheating protection circuit and a low-voltage detection circuit are arranged in the device, and no radiating fin is required to be added; the camera uses an infrared camera, an infrared lamp radiates illumination, the infrared low-illumination color camera senses infrared light reflected by the surrounding environment to realize night vision imaging, and real-time observation can be carried out on the cement silo in a dark environment; the inclination angle signals of the support telescopic arm, the frame and the rotary support telescopic arm are acquired by the support arm inclination angle sensor, the frame inclination angle sensor and the rotary arm inclination angle sensor and are processed by the PLC control system, the expansion angles of the upper support device and the rotary support device can be controlled by an electric cylinder which is connected with the upper expansion device and the lower expansion device, and the frame cylinder which is adjusted to be the electric cylinder is expanded and contracted, so that the frame is always kept in the vertical direction; the cutting motor is a permanent magnet synchronous motor, the material of the cutting cutter head is hard alloy steel, and the cutting cutter head is a disc-shaped cutter with cutting blades on the upper surface and the cylindrical surface; the spring of the spring damping support is a rectangular section spiral compression spring.
The principle of the scheme is as follows: one end of a steel wire rope of the winch is connected with a lifting bolt in threaded connection with the mounting base, the winch is started to hoist the device into a cement silo, and after the device is hoisted to a position to be cleaned, the winch stops working and is self-locked to play a role in protection; the lower part of the working mechanism is the main body of the invention, the root part and the base of each support device telescopic arm are hinged through a shaft pin, a gear welded at the root part can be meshed with a lifting piece of an upper unfolding device, namely a gear-rack meshing structure, after the lifting is stable, a lifting cylinder pushes out the lifting piece to drive three support telescopic arms to be unfolded simultaneously, a support arm inclination angle sensor transmits an angle signal when the support arm is unfolded to a horizontal position, a PLC control system reads the signal and sends a command to stop and lock the lifting cylinder, an upper moving cylinder in the support telescopic arm drives the support telescopic arm to extend to a designated cement silo radius length in a mode of pushing out section by section through a bolt, the support telescopic arm is pressed tightly with the silo wall to fix the whole silo cleaning device, a spring shock absorption support fixedly arranged on a terminal bolt of the support telescopic arm can weaken the adverse effect on the device in working, and then the rotary support telescopic arm of the rotary, the cutting motor is started to drive the cutting cutter disc to rotate, the cutting cutter disc structure is that cutting blades are distributed on a disc, the cutting cutter disc can cut and crush cement blocks by high-speed rotation, then a lower moving cylinder in a rotary support telescopic arm drives a telescopic arm to extend to a specified cement silo radius length, after the cleaning is finished, a guide travelling wheel travels on the silo wall along the circumferential direction to drive the rotary support telescopic arm to rotate so that the cutting cutter disc performs circular arc cleaning, the whole plane can be cleaned only by rotating 120 degrees due to the three-arm structure, after the circumferential cleaning of the plane is finished, a vertical moving cylinder extends for the length of the diameter of the cutting cutter disc to enter the next cutting position, rollers of the guide travelling wheel are mecanum wheels to realize transverse and longitudinal movement, at the moment, three groups of guide travelling wheels play a role in guide support, the cutting work of the plane is finished, and the working process is repeated in a, when the height of the discharging bin is reached, the PLC control system orders the end of the working mode and switches to the working mode below the discharging bin; when the position below the discharging bin is cleaned, a PLC control system acquires an inclination angle signal of a rotary support telescopic arm transmitted by a rotary arm inclination angle sensor, controls a lower part unfolding device to downwards contract the rotary support telescopic arm, extends the rotary support telescopic arm to enable a cutter head to descend by the height of one diameter and be attached to the wall of the bin for cleaning, controls a frame inclination angle sensor, the rotary arm inclination angle sensor and a negative feedback structure formed by a frame cylinder, adjusts the frame cylinder by a control system to always enable the frame to keep the vertical direction, enables the cutting cutter head to be effectively cleaned, guides a travelling wheel to rotate on the wall of the bin by 120 degrees along the circumferential direction to drive the rotary support telescopic arm to rotate to enable the cutting cutter head to perform cleaning operation of the whole circumference, controls a lower part unfolding device to downwards contract the rotary support telescopic arm, extends the rotary support telescopic arm to enable the cutter head to descend, and the materials are attached to the wall of the warehouse for cleaning and cutting, and the whole warehouse is cleaned by repeated operation; the infrared camera installed at the tail end of the rotary support telescopic arm radiates illumination by an infrared lamp, the infrared low-illumination color camera senses infrared light reflected by the surrounding environment and further images, the real-time cleaning condition of the cutting cutterhead can be seen in the dark environment full of a large amount of dust in a cement silo, and the real-time cleaning condition can be adjusted in time by the control system.
The advantages of the invention compared with the prior similar system are that: can be folded and is convenient to hoist; the full-automatic working is realized, manual warehouse entry and cleaning are not needed, and the safety and the environmental protection are realized; the supporting arms are fixed, the structure is stable, the operation is reliable, and 360-degree cleaning can be realized; the single electric cylinder bolt type telescopic structure can be suitable for a cement silo with any radius in a length range; the guide travelling wheels can realize the moving modes of advancing, transverse moving, oblique moving, rotating, combination thereof and the like; the camera is arranged, so that visual operation can be realized; the angle of the rotary telescopic arm can be accurately adjusted, and the lower part of the discharging bin is cleaned.
Drawings
FIG. 1 is a sectional view of a fully automatic visual cement warehouse cleaning device working above a discharge bin according to the technical solution of the present invention
FIG. 2 is a view of the interior of a cement silo when a full-automatic visual cement silo cleaning device works below a discharge silo according to the technical solution of the invention
Figure 3 is a structural section of the upper support means 5 of the solution according to the invention
FIG. 4 is a view showing the structure of the rotary supporting device 13 and the cleaning mechanism according to the present invention
Fig. 5 is an axial structure view of the guide traveling wheel 9 of the technical solution of the present invention
Detailed Description
For a better understanding of the present invention, a fully automatic visual cement silo cleaning device will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the device mainly comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system; hoisting machine constructs and includes: the device comprises a winch 1, a winch support 2 and a hoisting steel wire rope 3; the support mechanism includes: the mounting base 4, the upper unfolding device 14, the upper supporting device 5 and the support arm inclination angle sensor 501, wherein the upper supporting device 5 comprises three support telescopic arms 304, and each support telescopic arm 304 is driven by the upper moving cylinder 201 to drive three telescopic arms and the spring shock absorption support 6; the descending rotation mechanism includes: the device comprises a vertical moving cylinder 7, a lower mounting base 8, a lower unfolding device 12, a rotary supporting device 13 and a rotary arm inclination angle sensor 502, wherein the rotary supporting device 13 comprises three rotary supporting telescopic arms 305, and each rotary supporting telescopic arm 305 drives three telescopic arms and a guide travelling wheel 9 by a lower moving cylinder 204; the wiper mechanism is at the end of the rotary support device 13, and each set of wiper mechanism comprises: the device comprises a cutting cutterhead 11, a cutting motor 402, a frame 403, a frame inclination angle sensor 503, a frame cylinder 10 and a camera 401, wherein a steel wire rope 3 of a winch 1 is connected with a lifting bolt in threaded connection with a mounting base 4, the winch 1 is started to hoist the device into a cement silo, and after the device is hoisted to a position to be cleaned, the winch 1 stops working and has a self-locking protection effect; the lower working mechanism is the main body of the invention, the root and the base of each support device telescopic arm are hinged through a shaft pin, a gear 303 welded at the root can be meshed with a lifting piece 302 of an upper unfolding device 5, namely a gear-rack meshing structure, a lifting cylinder 301 pushes out to drive three support telescopic arms 304 to unfold, when the support arms are unfolded to a horizontal position, a support arm inclination angle sensor 501 feeds back signals to stop unfolding, an inner upper moving cylinder 201 drives the support telescopic arms 304 to extend to a designated cement silo radius length in a section-by-section bolt pushing-out mode to be tightly pressed with the silo wall, the whole warehouse cleaning device is fixed, a spring damping support 6 fixedly installed by a terminal bolt can weaken the adverse effect on the device caused by vibration in work, then, a rotary support telescopic arm 305 of the rotary support device is unfolded to be horizontal, a cutting motor 402 is started to drive a cutting cutter disc 11 to rotate, the structure of the cutting cutter head 11 is that cutting blades are distributed on a disc, the cutting cutter head can cut and smash cement blocks by rotating at high speed, then the lower moving cylinder 204 inside the rotary supporting telescopic arm 305 drives the telescopic arm to extend to the length of the radius of a specified cement silo, after the cleaning is finished, the guide walking wheel 9 walks in the horizontal direction to drive the rotary supporting telescopic arm 305 to rotate so that the cutting cutter head 11 is cleaned in an arc shape, due to the structure of three arms, the whole plane can be cleaned only by rotating 120 degrees, after the circumferential cleaning of the plane is finished, the vertical moving cylinder 7 extends by a unit length, the guide walking wheel 9 plays a role in guiding and supporting at the moment, the height of the rotary supporting telescopic arm 305 is adjusted, the next plane is cleaned, the circulation is repeated until the height of the discharge silo is.
As shown in fig. 2, when the position below the discharging bin is cleaned, the upper supporting device (5) completes the supporting action in the cement silo, the control system sends out the angle required by the lower unfolding device 12, the mechanism PLC control system controls the lower unfolding device 12 to rotate the rotary support telescopic arm 305 downwards for a certain angle, the angle signal of the rotating arm inclination angle sensor 502 is transmitted to the mechanism PLC control system, the preset angle is reached and stopped, meanwhile, the control system reads the angle signal value of the frame inclination angle sensor 503, the frame cylinder 10 is adjusted, the frame 403 is always kept in the vertical direction, and the cutting cutter disc 11 can be effectively cleaned.
As shown in fig. 3, the upper supporting device 5 is connected with the mounting base 4 through a shaft pin, the upper moving cylinder 201 is fixedly mounted at the end of the basic arm of the telescopic arm through a flange, a gear 303 welded on the wing plate of the basic arm of the telescopic arm is engaged with a lifting piece 302 driven by a lifting cylinder 301, a mounting surface for supporting the top of the telescopic arm 304 is fixed with the spring damping support 6 through a screw, a mounting surface of the supporting arm tilt sensor 501 is fixed on the upper mounting surface for supporting the basic arm of the telescopic arm 304 in parallel through a screw, and a flange plate on the lifting cylinder 301 of the upper unfolding device 14 is fixed on the top of the inner cavity of the mounting base 4 through a screw so as to be coaxially arranged with the mounting.
As shown in fig. 4, the flange on the lower unfolding device 12 is fixed coaxially in the inner cavity at the lower end of the lower mounting base 8 by screws, the rotating arm tilt sensor 502 is fixed on the upper mounting surface of the basic arm of the rotating support telescopic arm 305 by screws, the ends of the three rotating support telescopic arms 305 are respectively fixed with the upper and lower mounting plates of the wheel carrier 101 of the guide travelling wheel 9 by bolts, the cutting cutterhead 11 is driven by the cutting motor 402, the cutting motor 402 is mounted on the frame 403 by flanges, the wing plates at the two ends of the frame cylinder 10 are connected with the wing plate under the third telescopic arm of the rotating support telescopic arm 305 and the side wing plate of the frame 403 by pins, the upper wing plate of the frame 403 is connected with the end of the third telescopic arm of the rotating support telescopic arm 305 by pins to form a triangular structure, the mounting surface 503 of the frame tilt sensor is mounted in parallel on the outer, the camera 401 is fixed on the lower mounting plate of the wheel frame 101 of the guide traveling wheel 9 using screws.
As shown in fig. 5, in order to construct the guided road wheels 9, a set of guided road wheels 9 includes two rollers 103 for individually controlling rotation, the rollers 103 are mecanum wheels, each roller 103 is driven by a motor 102, tapered roller bearings are used, and an end flange of the motor 102 is fixed to the wheel frame 101 by a screw.
In conclusion, the full-automatic visual cement warehouse cleaning device provided by the invention has the advantages of strong applicability, high automation degree, high efficiency, excellent performance, safety, reliability, capability of being visually operated in a dark environment with a large amount of dust and environmental friendliness, and is applied to the field of cement warehouse cleaning.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A full-automatic visual cement warehouse cleaning device mainly comprises a hoisting mechanism, a supporting mechanism, a descending rotating mechanism, a cleaning mechanism and a control system; the method is characterized in that: hoisting machine constructs and includes: the hoisting device comprises a winch (1), a winch support (2) and a hoisting steel wire rope (3); the support mechanism includes: the device comprises a mounting base (4), an upper unfolding device (14), an upper supporting device (5) and a supporting arm inclination angle sensor (501), wherein the upper supporting device (5) comprises three supporting telescopic arms (304), and each supporting telescopic arm (304) is driven by an upper moving cylinder (201) to form three telescopic arms and a spring shock absorption support (6); the descending rotation mechanism includes: the device comprises a vertical moving cylinder (7), a lower mounting base (8), a lower part unfolding device (12), a rotary supporting device (13) and a rotary arm inclination angle sensor (502), wherein the rotary supporting device (13) comprises three rotary supporting telescopic arms (305), and each rotary supporting telescopic arm (305) is driven by a lower moving cylinder (204) to drive three telescopic arms and a guide travelling wheel (9); the wiper mechanism is at the end of the rotary support device (13), each set of wiper mechanism comprising: the cutting device comprises a cutting cutter head (11), a cutting motor (402), a frame (403), a frame inclination angle sensor (503), a frame cylinder (10) and a camera (401), wherein a winch (1) is installed on an installation surface of a winch support (2) through bolts, the tail end of a hoisting steel wire rope (3) wound on the winch (1) is connected with a lifting bolt, the lifting bolt is installed on an installation base (4) through threads, an upper supporting device (5) is connected with an installation wing plate of the installation base (4) through a shaft pin, an upper moving cylinder (201) is fixedly installed at the root of a basic arm of a telescopic arm through a flange, the installation wing plate of the basic arm of the telescopic arm is welded with the end surface of a gear (303), the gear (303) is meshed with a lifting piece (302) driven by the lifting cylinder (301), the installation surface supporting the top of the telescopic arm (304) is connected with a spring damping, the mounting surface of a supporting arm tilt angle sensor (501) is fixed on the upper mounting surface of a basic arm of a supporting telescopic arm (5) through screws, a flange plate on a lifting cylinder (301) of an upper unfolding device (14) is fixed on the top of an internal cavity of a mounting base (4) through screws so as to be coaxially placed with the mounting base (4), a vertical moving cylinder (7) is fixed with the mounting base (4) and a lower mounting base (8) through screws, a flange plate on a lower unfolding device (12) is also fixed in an internal cavity at the lower end of the lower mounting base (8) through screws in a vertical coaxial manner, a rotating arm tilt angle sensor (502) is fixed on the upper mounting surface of the basic arm of a rotating telescopic arm (10) through screws, a lower moving cylinder (204) is fixedly mounted at the root of the basic arm through a flange, and the tops of three rotating supporting telescopic arms (305) are respectively fixed with an upper mounting plate and a lower mounting plate of a wheel carrier (101), two rollers (103) which can be controlled to rotate independently are mounted on one group of guide travelling wheels (9), each roller (103) is driven by a motor (102), a cutting cutter head (11) is driven by a cutting motor (402), the cutting motor (402) is mounted on a frame (403) through a flange, wing plates at two ends of a frame cylinder (10) are connected with a wing plate below a third section of telescopic arm of a rotary support telescopic arm (305) through a pin shaft, side wing plates of the frame (403) are connected through a pin shaft, an upper wing plate of the frame (403) is connected with the tail end of the third section of telescopic arm of the rotary support telescopic arm (305) through a pin shaft to form a triangular structure, a mounting surface of a frame inclination angle sensor (503) is mounted on an outer mounting surface of the frame (403) through screws, and a camera (401) is fixed on a lower mounting plate of a wheel carrier (.
2. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: support flexible arm (304) and rotatory flexible arm (305) of support use aluminum alloy material, and be thin-walled structure, adopt the flexible mode of bolt formula, vertical removal jar (7), upward move jar (201) and move jar (204) down and choose servo electronic jar for use, can avoid hydraulic oil to reveal the pollution, and convenient and PLC control system is connected.
3. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: lifting member (302) are the cylinder structure that the surface has the tooth, and 20CrMnTi is selected for use to gear (303) and lifting member (302) material, and the surface carries out the nitriding treatment, improves bearing capacity, and servo electronic jar is selected for use to lifting cylinder (301), drives lifting member (302) and carries out the up-and-down motion, and lifting member (302) can drive three flexible arm and expand simultaneously and withdraw through the meshing with gear (303).
4. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: the guide travelling wheel (9) adopts a tapered roller bearing, the roller (103) adopts a Mecanum wheel, the transverse and longitudinal movement can be realized, the hub (104) and the small rolling wheel (105) adopt aviation aluminum alloy materials, and the small rolling wheel (105) is provided with a rubber sleeve.
5. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: a servo motor is selected as a motor (102) of the guide travelling wheel (9), a TB6612FNG chip is adopted as a motor driving circuit, the motor driving circuit has a high-current MOSFET-H bridge structure, dual-channel circuit output can drive 2 motors (102) simultaneously, an overheating protection circuit and a low-voltage detection circuit are arranged in the motor driving circuit, and additional radiating fins are not needed.
6. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: the camera (401) uses an infrared camera, an infrared lamp radiates illumination, the infrared low-illumination color camera senses infrared light reflected by the surrounding environment to realize night vision imaging, and real-time observation can be carried out on the cement silo in a dark environment.
7. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: inclination signals of the support telescopic arm (304), the frame (403) and the rotary support telescopic arm (305) are collected by the support arm inclination sensor (501), the frame inclination sensor (503) and the rotary arm inclination sensor (502), the inclination signals are processed by the PLC control system, the unfolding angles of the upper support device (5) and the rotary support device (13) can be adjusted by controlling the electric cylinders of the upper unfolding device (14) and the lower unfolding device (12), the frame cylinder (10) which is adjusted to be the electric cylinder stretches, the frame (403) is always kept in the vertical direction, and the cuttable posture is maintained.
8. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: the cutting motor (402) is an outer rotor direct current brushless motor, the material of the cutting cutter head (11) is hard alloy steel, and the cutting cutter head is a disc-shaped cutter with cutting blades on the upper surface and the cylindrical side surface.
9. The full-automatic visual cement warehouse cleaning device according to claim 1, characterized in that: the spring (601) of the spring shock absorption support (6) is a spiral compression spring with a rectangular cross section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291977.3A CN113042476A (en) | 2021-03-18 | 2021-03-18 | Full-automatic visual cement warehouse cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291977.3A CN113042476A (en) | 2021-03-18 | 2021-03-18 | Full-automatic visual cement warehouse cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113042476A true CN113042476A (en) | 2021-06-29 |
Family
ID=76513391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110291977.3A Pending CN113042476A (en) | 2021-03-18 | 2021-03-18 | Full-automatic visual cement warehouse cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113042476A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455218A (en) * | 2022-02-21 | 2022-05-10 | 陕西酬众建筑安装工程有限公司 | Cement repository wall cleaning device |
| CN116175608A (en) * | 2023-04-26 | 2023-05-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
-
2021
- 2021-03-18 CN CN202110291977.3A patent/CN113042476A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455218A (en) * | 2022-02-21 | 2022-05-10 | 陕西酬众建筑安装工程有限公司 | Cement repository wall cleaning device |
| CN116175608A (en) * | 2023-04-26 | 2023-05-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
| CN116175608B (en) * | 2023-04-26 | 2023-06-30 | 四川义德智慧科技有限公司 | Mechanical arm device for cleaning powdery material warehouse |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113042476A (en) | Full-automatic visual cement warehouse cleaning device | |
| CN105977864B (en) | A kind of multifunction power high-altitude operation worktable used for transmission line | |
| CN113800359B (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN109287309B (en) | Branch removing equipment for live working robot | |
| CN104190673B (en) | Wash the device and method of syringe | |
| CN109797979B (en) | Wall skin ash shoveling robot | |
| CN108435729B (en) | Intelligent flexible warehouse cleaning machine for cement warehouse | |
| CN213837402U (en) | Automatic snow removing device for roof | |
| CN116812791B (en) | Building engineering lifting device | |
| CN116676845B (en) | Combined pretreatment equipment for road repair and maintenance | |
| CN212201170U (en) | Building wall surface plastering device capable of recycling mortar | |
| CN211866083U (en) | Multifunctional ash removal equipment for fly ash storehouse | |
| CN217888916U (en) | Metal pipeline laser rust removal robot based on machine vision | |
| CN218324937U (en) | Automatic spraying dust-settling device for mining equipment | |
| CN110778138A (en) | Machine is got to worn-out ceramic tile monoblock cutting clamp | |
| CN215165869U (en) | Device for replacing road manhole cover seat | |
| CN109483740B (en) | Working method of fork transformation device of concrete guardrail | |
| CN116175608B (en) | Mechanical arm device for cleaning powdery material warehouse | |
| CN218212066U (en) | Concrete coring device for building safety inspection | |
| CN219190766U (en) | Novel wall quick drilling device | |
| CN221345348U (en) | High-efficiency roadside traffic safety facility | |
| CN221701035U (en) | Auxiliary moving device of robot | |
| CN218538929U (en) | Auxiliary hoisting tool for wind driven generator | |
| CN220993494U (en) | Numerical control machine tool carrying base | |
| CN216970715U (en) | Clear stifled device in cement silo |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |