CN114620189A

CN114620189A - Intelligent crawler-type cabin cleaning machine and cabin cleaning method thereof

Info

Publication number: CN114620189A
Application number: CN202210341597.0A
Authority: CN
Inventors: 于新国; 卢聪; 周思远; 刘春阳; 王川汶; 袁强; 朱振民; 徐菲鸿; 孙昊; 刘强; 马贺荣; 沈燕斌; 孙富华; 谢康凯; 郭玉翠; 黄琰; 陈星宇; 田瑞丰
Original assignee: Jinan Century Meike Mining Machinery Co ltd; Polytechnic Leike Zhitu Beijing Technology Co ltd; Yantai Port Ltd By Share Ltd Ore Terminal Branch
Current assignee: Jinan Century Meike Mining Machinery Co ltd; Polytechnic Leike Zhitu Beijing Technology Co ltd; Yantai Port Ltd By Share Ltd Ore Terminal Branch
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-06-14

Abstract

The invention discloses an intelligent crawler-type cabin cleaning machine and a cabin cleaning method thereof, and the intelligent crawler-type cabin cleaning machine comprises a supporting frame, wherein a base of the supporting frame is provided with a crawler-type travelling mechanism, the upper part and the lower part of one side of the supporting frame are respectively hinged with a material raking mechanism and a push shovel mechanism, a base of the supporting frame at the other side of the supporting frame extends out and is provided with a rotary driving supporting seat, a cloth conveying mechanism is horizontally arranged on the rotary driving supporting seat through a rotary supporting turntable, an aggregate conveying mechanism is arranged on one side and the other side of the supporting frame, a hydraulic driving control cabinet is horizontally arranged in the middle of the base of the supporting frame, a hydraulic power source and a PLC (programmable logic controller) are arranged in the control cabinet, the hydraulic power source is connected with the crawler-type travelling mechanism, the material raking mechanism, the push shovel mechanism, the cloth conveying mechanism and the rotary driving supporting seat to provide power, the push shovel mechanism, the cloth conveying mechanism and the cloth conveying mechanism are integrated, the cloth can rotate around the middle part of a cabin to stack the bulk materials around the periphery of the cabin, not only is safe, but also improves the cabin cleaning efficiency.

Description

Intelligent crawler-type cabin cleaning machine and cabin cleaning method thereof

Technical Field

The invention relates to an intelligent crawler-type cabin cleaning machine and a cabin cleaning method thereof.

Background

In the process of unloading bulk cargo in a port, the bulk cargo in a cabin is grabbed out through the grab bucket, the grab bucket moves up and down at the port of the cabin, therefore, in the later unloading, the bulk cargo around the bottom of the cabin needs to be gathered in the middle of the cabin for the grab bucket to grab, therefore, the auxiliary machinery needs to be put down to manually descend to the bottom of the cabin for operation at the later stage, most of the prior auxiliary machinery uses a forklift, however, the forklift needs to manually descend in advance to open up a field for the forklift to walk when the bulk goods are used, in addition, the process of using the forklift needs to be long in forward shoveling, backward shoveling and forward dumping, due to the poor operating environment of the lower cabin, a driver needs to pay attention to the operating condition of the grab bucket above, the labor intensity is high, the efficiency is low, the safety factor is low, wireless operation can be completed completely by adopting a wireless idle technology along with the application of a wireless remote control technology, and a more efficient auxiliary mechanical device for improving the cabin cleaning operation process needs to be provided in cooperation with the wireless operation.

Disclosure of Invention

The invention aims to provide an intelligent crawler-type cabin cleaning machine and a cabin cleaning method thereof, which integrate the functions of push shovel, conveying and distributing, and the distributing material can rotate around the middle part of a cabin, so that bulk materials around the cabin can be accumulated to the middle part of the cabin when the ship moves forwards, the labor intensity is reduced, and the cabin cleaning efficiency is improved.

In order to realize the purpose, the technical scheme of the invention is as follows:

an intelligent crawler-type cabin cleaning machine comprises a supporting frame, crawler-type traveling mechanisms are respectively arranged on two sides of a supporting frame base, wherein a material raking mechanism and a push shovel mechanism are respectively hinged on one side of the supporting frame from top to bottom, a rotary driving supporting seat extends out of the supporting frame base on the other side of the supporting frame opposite to one side of the supporting frame, a cloth conveying mechanism is horizontally arranged on the rotary driving supporting seat through a rotary supporting turntable seat, the rotary driving supporting seat is used for driving the rotary supporting turntable to enable the tail end outlet end of a conveying belt of the cloth conveying mechanism to always face to a material piling position below a cabin opening, an aggregate conveying mechanism is arranged on one side and the other side of the supporting frame, the front end of the conveying belt of the aggregate conveying mechanism is connected with the push shovel of the push shovel mechanism, the tail end of the conveying belt of the aggregate conveying mechanism is arranged on the rotary driving supporting seat, a hydraulic driving control cabinet is horizontally arranged in the middle of the supporting frame base, the hydraulic power source and the PLC controller are arranged in the control cabinet, the hydraulic power source is respectively connected with the crawler-type travelling mechanism through the hydraulic drive switch, the scraping mechanism, the push shovel mechanism, the cloth conveying mechanism and the rotary drive supporting seat to provide power, the output of the PLC controller is respectively connected with the hydraulic power source and the hydraulic drive switch, the intelligent cabin cleaning controller is connected with the PLC controller, during operation, along with the walking of the cabin cleaning machine, the push shovel of the push shovel mechanism shovels and sends bulk materials to the conveying belt of the aggregate conveying mechanism, or the scraping roller of the scraping mechanism scrapes the bulk materials from the push shovel of the push shovel mechanism to the conveying belt of the aggregate conveying mechanism, and the bulk materials fall onto the conveying belt of the cloth conveying mechanism through the aggregate conveying mechanism and are conveyed to the stacking position below the opening of the cabin for the unloading grab bucket to grab.

The scheme is further as follows: the material raking mechanism comprises a raking arm, the rear end of the raking arm is hinged to the upper end of one side of a supporting frame, a first hydraulic cylinder telescopic arm is arranged on the supporting frame under the hinged connection at the upper end, the front end of the first hydraulic cylinder telescopic arm is connected to the middle of the raking arm to drive the raking arm to swing up and down around the hinged connection, a raking roller is arranged at the front end of the raking arm and driven to rotate by a first hydraulic motor, the raking arm comprises a fixed arm and a raking telescopic arm, the fixed arm and the raking telescopic arm are sleeved with each other, the rear end of the fixed arm is hinged to the upper end of one side of the supporting frame through a rotating shaft, a second hydraulic cylinder telescopic arm is arranged on the fixed arm, and the front end of the second hydraulic cylinder telescopic arm is connected to the raking telescopic arm to drive the raking telescopic arm to move back and forth.

The scheme is further as follows: push away shovel mechanism and include that two push away the shovel and push away the arm, two push away the tail end that the shovel pushed away the arm and braced frame one side lower extreme both sides hinged joint, two push away the shovel and push away the arm respectively in the both sides of the conveying mechanism conveyer belt that gathers materials, braced frame one side on lower extreme both sides hinged joint is connected respectively and is provided with the flexible arm of third pneumatic cylinder, and the front end of the flexible arm of third pneumatic cylinder is connected and is being pushed away the shovel and push away the arm middle part and drive and push away the shovel and push away the arm and do the luffing motion around hinged joint, push away the shovel setting and push away the front end that the arm at two.

The scheme is further as follows: the conveying mechanism gathers materials includes the conveyer belt frame, and the conveyer belt frame includes mutual hinged joint's horizontal segment frame and slope section frame, and on the hydraulic drive switch board was arranged in to the horizontal segment frame, the front end of slope section frame and the shovel linkage that pushes away shovel mechanism arranged in the lower extreme or the rear side that pushes away the shovel, and the tail end of horizontal segment frame is arranged in on the rotary drive supporting seat, be provided with the upper idler and the snub pulley of conveyer belt respectively from top to bottom between conveyer belt frame both sides board, upper idler and snub pulley are provided with a plurality ofly along conveyer belt frame length direction interval, are provided with rotary drum at slope section frame front end, are provided with driving drum at the tail end of horizontal segment frame, and the conveyer belt has walked around rotary drum and driving drum setting at upper idler and snub pulley upside, and driving drum drives rotatoryly and drive the conveyer belt walking by second hydraulic motor.

The scheme is further as follows: the cloth conveying mechanism comprises a conveying belt rack, the conveying belt rack is divided into at least two sections which are respectively a horizontal rack section and an inclined rack section, the horizontal rack section and the inclined rack section are mutually hinged, the horizontal rack section is laid on a rotary driving supporting seat through a rotary supporting turntable seat, a fourth hydraulic cylinder telescopic arm is arranged on the side wall of the horizontal rack section, the front end of the fourth hydraulic cylinder telescopic arm is connected with the inclined rack section to drive the inclined rack section to swing around the hinge connection to change the inclination angle of the inclined rack section, an upper carrier roller and a lower carrier roller of the conveying belt are respectively arranged between two side plates of the conveying belt rack from top to bottom, the upper carrier roller and the lower carrier roller are arranged at intervals along the length direction of the conveying belt rack, a rotary drum is arranged at the front end of the horizontal rack section, a driving drum is arranged at the tail end of the inclined rack section, and the conveying belt is arranged on the upper side of the upper carrier roller and the lower carrier roller by bypassing the rotary drum and the driving drum, the driving roller is driven by a third hydraulic motor to rotate so as to drive the transmission belt to walk, the inclined rack section comprises a first inclined rack section and a second inclined rack section which are arranged in the front and at the back, the first inclined rack section is hinged with the second inclined rack section, the first inclined rack section is hinged with the horizontal rack section, a fifth hydraulic cylinder telescopic arm is arranged on two side plates of the first inclined rack section respectively, and the front end of the fifth hydraulic cylinder telescopic arm is connected with the second inclined rack section to drive the second inclined rack section to rotate around the hinge connection for folding the inclined rack section in the non-working state.

The scheme is further as follows: the crawler-type travelling mechanism comprises toothed idler wheels fixed at the front end and the rear end of the support frame base, a travelling crawler is arranged around the toothed idler wheels at the front end and the rear end, the crawler is meshed with the toothed idler wheels, one of the toothed idler wheels is an active toothed idler wheel driven by a fourth hydraulic motor, and a plurality of crawler support wheels are arranged between the toothed idler wheels at the front end and the rear end.

The scheme is further as follows: the intelligent cabin cleaning controller comprises a plurality of laser radars and a control server connected with the laser radars, the laser radars are arranged on the periphery and the top of the supporting frame respectively, the laser radars arranged on the periphery of the supporting frame are used for detecting the state of bulk materials on the periphery, the laser radars arranged on the top are used for building a map, positioning, tracking and identifying a ship hatch, the control server is used for building a cabin point cloud map according to signals of the laser radars and sending control instructions to the PLC according to the state of the bulk materials to realize intelligent cabin cleaning.

The scheme is further as follows: the intelligent controller further comprises a GNSS + IMU integrated navigation device which is arranged on the top of the supporting frame and used for supplementing the laser radar positioning.

An intelligent cabin cleaning method of a crawler-type cabin cleaning machine is based on the intelligent cabin cleaning method of the crawler-type cabin cleaning machine, laser radars are respectively arranged on the periphery and the top of a supporting frame, and the method comprises the following steps:

the first step is as follows: establishing a point cloud map of the cabin, positioning the cabin wall and the cabin hatch, positioning the current position of the cabin where the cabin cleaning machine is located, and planning an operation path according to the acquired and arranged laser radar signals;

the second step is that: rotating the cloth conveying mechanism, and enabling the outlet end of the tail end of a conveying belt of the cloth conveying mechanism to face a lower stacking position of the ship hatch according to the position of the ship hatch;

the third step: determining the bulk material quantity of a working surface in front of the cabin cleaning machine, determining whether the pushing shovel operation condition is met, starting the pushing shovel mechanism to carry out shoveling action when the operation condition is met, shoveling the bulk material to the distributing conveying mechanism, conveying the bulk material to a cabin opening stacking position through a distributing conveying mechanism conveying belt, stopping shoveling when the mineral material quantity of the working surface does not meet the continuous pushing shovel operation condition, determining a next path point according to a planned operation path, starting the crawler-type travelling mechanism to travel to the next path point, and returning to the second step until all the operation paths are completed.

The scheme is further as follows: starting a material raking mechanism to rake materials while starting a shovel pushing mechanism to carry out shoveling actions, wherein the material raking mechanism is used for shoveling the bulk materials to a material distribution conveying mechanism in a coordinated manner; and after all the operation paths are completed, whether bulk material scaling exists is determined according to the acquired cabin wall information, if yes, the material raking mechanism is started, and scaling is eradicated through a material raking roller of the material raking mechanism.

The invention has the beneficial effects that: the equipment integrates the functions of pushing shovel, conveying and distributing, the distributing can rotate around the middle part of the cabin, and the bulk materials around the cabin can be directly scattered without backing and turning in the process of forward propelling

The material is piled up to the middle part of the cabin, the labor intensity is reduced, and the cabin cleaning efficiency is improved while the safety is realized.

The invention is described in detail below with reference to the figures and examples.

Drawings

FIG. 1 is a schematic view of the overall structure of a cabin cleaning machine;

FIG. 2 is a schematic side view of a support frame of the cabin cleaning machine;

FIG. 3 is a schematic plan view of the support frame base of the cabin cleaning machine, and the top view of FIG. 2;

FIG. 4 is a schematic view of a plane unfolding structure of a collecting and conveying mechanism of the cabin cleaning machine;

FIG. 5 is a schematic plan view of a push shovel mechanism of the cabin cleaning machine, and a view of the push shovel mechanism of the cabin cleaning machine in the direction of A in FIG. 1;

FIG. 6 is a schematic view of a plane unfolding structure of a cabin cleaning machine material distribution conveying mechanism;

FIG. 7 is a schematic view of the cabin cleaning machine viewed from the side of the cloth conveying mechanism;

FIG. 8 is a schematic view of the stowed state of the cabin cleaning machine cloth conveying mechanism;

FIG. 9 is a schematic view of a rotary driving support seat structure of the cabin cleaning machine, and an enlarged view of a portion B of FIG. 7;

FIG. 10 is a schematic diagram of hydraulic power control logic of the cabin cleaning machine.

Detailed Description

Example 1:

an intelligent crawler-type cabin cleaning machine is full-hydraulic cabin cleaning equipment, as shown in figures 1 to 10, the cabin cleaning machine comprises a supporting frame 1, the supporting frame 1 is a rectangular frame formed by welding steel beams and comprises a frame top rectangular frame 101, a base rectangular frame 102, front and rear side

rectangular frames

103 and 104, crawler-type traveling mechanisms 2 are respectively arranged on two sides of a base of the supporting frame, a material scraping mechanism 3 and a push shovel mechanism 4 are respectively hinged on the upper side and the lower side of one side of the supporting frame, the base of the supporting frame on the other side of the supporting frame opposite to one side of the supporting frame extends out of a platform 105, a rotary driving supporting seat 5 is arranged on the platform 105, a cloth conveying mechanism 6 is horizontally arranged on the rotary driving supporting seat 5 through a rotary supporting turntable 601, the rotary driving supporting seat 5 is used for driving the rotary supporting turntable 601 to rotate so that the outlet end of the tail end of a conveying belt of the cloth conveying mechanism 6 always faces to a material piling position below a cabin opening, an aggregate conveying mechanism 7 is arranged through one side and the other side of the supporting frame, the front end of a conveying belt of the aggregate conveying mechanism 7 is arranged on a push shovel 401 of a push shovel mechanism 4 and is connected, the tail end of the conveying belt of the aggregate conveying mechanism 7 is arranged on a supporting frame base extending platform 105 and is vertical to the rotary driving supporting seat 5, a blanking hopper 8 is arranged at the tail end of the conveying belt corresponding to the front end of a conveying belt of a cloth conveying mechanism 6, a hydraulic driving control cabinet 9 is horizontally arranged in the middle of the supporting frame base, as shown in fig. 10, a hydraulic power source 901 and a PLC 902 are arranged in the control cabinet, the hydraulic power source is respectively connected with the crawler-type travelling mechanism, the material raking mechanism, the push shovel mechanism and the cloth conveying mechanism through a hydraulic driving switch 903 to provide power, the output of the PLC 902 is respectively connected with and controls the hydraulic power source 901 and the hydraulic driving switch 903 (a reversing valve switch) to control the hydraulic motor in each mechanism according to instructions, The action of the hydraulic cylinder telescopic arm, an intelligent cabin cleaning controller is connected with the PLC 902; the intelligent cabin cleaning controller comprises a plurality of laser radars 904 and a control server 905 connected with the laser radars 904, the laser radars are respectively arranged on the periphery and the top of a supporting frame (in the embodiment, the number of the laser radars is 6, and the number of the laser radars is 2, and is not shown in the figure), the laser radars arranged on the periphery of the supporting frame are arranged in the middle of the periphery of the supporting frame and are used for detecting the peripheral bulk cargo state, the laser radars arranged on the top are used for establishing a map, positioning, tracking and identifying a ship hatch, and the control server is used for establishing a cabin point cloud map according to signals of the laser radars and sending control instructions to the PLC according to the bulk cargo state to realize intelligent cabin cleaning; the top of the support frame is also provided with a GNSS + IMU combined navigation device 906, which is widely applied to automatic driving automobile navigation and is a known technology, and the GNSS + IMU combined navigation device is arranged on the top of the support frame and is used for supplementing laser radar positioning; during operation, along with the walking of the cabin cleaning machine, the pushing shovel of the pushing shovel mechanism shovels the bulk materials and sends the bulk materials to the conveying belt of the collecting and conveying mechanism, or the bulk materials are raked from the pushing shovel of the pushing shovel mechanism to the conveying belt of the collecting and conveying mechanism by the raking roller 301 of the raking mechanism 3, and the bulk materials fall onto the conveying belt of the distributing and conveying mechanism through the conveying belt of the collecting and conveying mechanism and are conveyed to the middle stacking position of the cabin to be grabbed by the unloading grab bucket.

Wherein: the raking mechanism 3 comprises raking arms 302, the number of the raking arms 302 can be two or one, the two raking arms are separately arranged at two sides of a supporting frame, the rear end of each raking arm is hinged with the upper end of one side of the supporting frame 1 through a rotating shaft 303, one side of the supporting frame below the upper end hinge connection is connected with a first hydraulic cylinder telescopic arm 10, the front end of the first hydraulic cylinder telescopic arm 10 is connected with the middle part of the raking arm 302 to drive the raking arm 3 to swing up and down around the hinge connection, the raking arm 302 comprises a fixed arm 302-1 and a raking telescopic arm 302-2, the fixed arm 302-1 and the raking telescopic arm 302-2 are sleeved, the rear end of the fixed arm 302-1 is hinged with the upper end of one side of the supporting frame 1 through the rotating shaft 303, a second hydraulic cylinder telescopic arm 11 is arranged on the fixed arm 302-1, the front end of the second hydraulic cylinder telescopic arm 11 is connected with the raking telescopic arm 302-2 to drive the raking telescopic arm 302-2 to move back and forth, the material raking roller 301 is arranged at the front end of the material raking arm 302 and is driven by the first hydraulic motor 12 to rotate, and certainly, raking teeth (not shown) are arranged around the material raking roller 301.

In the examples: as shown in fig. 1 and 5, the shovel mechanism 4 includes two shovel pushing arms 402, the tail ends of the two shovel pushing arms are hinged to two sides of the lower end of one side of the supporting frame through a shaft pin 403, the two shovel pushing arms are respectively located on two sides of the conveying belt and the side plate of the aggregate conveying mechanism 7, a third hydraulic cylinder telescopic arm 13 is respectively connected to one side of the supporting frame above the hinge pin 403 on the two sides of the lower end, the front end of the third hydraulic cylinder telescopic arm 13 is connected to the middle of the shovel pushing arm 402 to drive the shovel pushing arm to swing up and down around the hinge connection, the shovel 401 is located at the front end of the shovel pushing arm 402, the shape of the shovel 401 is the same as that of a shovel, as shown in fig. 5, a dispersing rib plate 404 is located in the middle of the shovel 401, a connecting rod 405 is located between the two shovel pushing arms, and the front end of the conveying belt of the conveying mechanism is located at the lower end of the connecting rod 405.

In the examples: as shown in fig. 1 and 4, the aggregate conveying mechanism 7 includes a conveyor belt frame, the conveyor belt frame includes a horizontal section frame 701 and an inclined section frame 702 which are hinged to each other, the horizontal section frame is disposed on a hydraulic drive control cabinet 9, the front end of the inclined section frame 702 is connected with a push shovel 401 of a push shovel mechanism 4 and disposed at the lower end or the rear side of the push shovel 401, the tail end of the horizontal section frame is disposed on the rotary drive support base 5 and perpendicular to the rotary drive support base 5, upper and lower carrier rollers 703 and lower carrier rollers 704 of the conveyor belt are disposed between two side plates of the conveyor belt frame, the upper and

lower carrier rollers

703 and 704 are disposed at intervals along the length direction of the conveyor belt frame, a rotary drum 705 is disposed at the front end of the inclined section frame, a drive drum 706 is disposed at the tail end of the horizontal section frame, and the conveyor belt is disposed above the upper and lower carrier rollers and passes around the rotary drum and the drive drum, wherein, a tensioning device is further arranged between the two lower supporting rollers 704, and the second hydraulic motor 14 drives the driving roller to rotate so as to drive the conveying belt to travel.

In the examples: as shown in fig. 1 and fig. 6, the cloth conveying mechanism 6 includes a conveyor belt frame, the conveyor belt frame 6 is divided into at least two sections, which are a horizontal frame section 602 and an inclined frame section 603, the horizontal frame section and the inclined frame section are hinged to each other, the horizontal frame section is laid on a rotary driving support base 5 through a rotary support turntable 601, a fourth hydraulic cylinder telescopic arm 15 is arranged on the side wall of the horizontal frame section, the front end of the fourth hydraulic cylinder telescopic arm 15 is connected with the inclined frame section 603 to drive the inclined frame section 603 to swing around the hinge connection to change the inclination angle of the inclined frame section 603, an upper carrier roller 604 and a lower carrier roller 605 of the conveyor belt are respectively arranged between two side plates of the conveyor belt frame, a plurality of carrier rollers 604 and a plurality of lower carrier rollers 605 are arranged at intervals along the length direction of the conveyor belt frame, the upper carrier roller 604 is divided into two carrier rollers which are respectively inclined inwards (to prevent deviation) and arranged on the two side plates of the conveyor belt frame, the front end of the horizontal rack section is provided with a rotary roller 606, the tail end of the inclined rack section is provided with a driving roller 607, the transmission belt is arranged above the upper carrier roller and the lower carrier roller by bypassing the rotary roller 606 and the driving roller 607, and the driving roller 607 is driven by a third hydraulic motor 16 to rotate so as to drive the transmission belt to walk.

Considering that the tilting frame section 603 can be contracted when not in work, the tilting frame section 603 is divided into a first tilting frame section 603-1 and a second tilting frame section 603-2 which are arranged in front and back, the first tilting frame section 603-1 and the second tilting frame section 603-2 are hinged through a shaft pin, the first tilting frame section 603-1 is hinged with the horizontal frame section 602, the first tilting frame section 603-1 is provided with a fifth hydraulic cylinder telescopic arm 17, the front end of the fifth hydraulic cylinder telescopic arm 17 is connected with the second tilting frame section 603-2 to drive the second tilting frame section 603-2 to rotate around a rotating shaft 608 of the hinged connection, the rotating connection in the embodiment adopts a connecting rod 609 and a rope 610 mode to be connected with the front end of the fifth hydraulic cylinder telescopic arm 17, and the rope is tensioned and loosened through the fifth hydraulic cylinder telescopic arm 17 to realize the rotation of the second tilting frame section 603-2, as shown in fig. 8, for folding the tilted frame sections when not in use.

In the examples: as shown in fig. 1, 2 and 8, the crawler type traveling mechanism 2 includes toothed rollers 201 fixed to the front and rear ends of the base of the support frame, and a traveling crawler 202 provided around the toothed rollers at the front and rear ends, the crawler being engaged with the toothed rollers, one of the toothed rollers being an active toothed roller driven by a fourth hydraulic motor 18, wherein: the crawler type traveling mechanisms 2 are provided with two sets, the two sets of crawler type traveling mechanisms 2 are respectively arranged at the lower sides of the left end and the right end of the supporting frame base, the fourth hydraulic motors 18 of the crawler type traveling mechanisms 2 at the two sides are independently controlled so as to control steering, and a plurality of crawler type supporting wheels 203 are arranged between the toothed idler wheels at the front end and the rear end.

In the examples: as shown in fig. 9, a gear ring turntable 501 driven by a fifth hydraulic motor 19 (a hydraulic motor with a speed reducer) to rotate is arranged in the rotary driving support base 5, the lower end of a rotary support turntable 601 of the cloth conveying mechanism is fixedly connected with a rotating shaft 502 arranged in the rotary driving support base 5 and is horizontally arranged on a bearing seat 503 in the gear ring turntable 501 through the rotating shaft 502, the gear ring turntable 501 is connected with the rotary support turntable 601 through a connecting column 504, and the fifth hydraulic motor 19 drives the gear ring turntable 501 to rotate so that the outlet end of the tail end of a transmission belt of the cloth conveying mechanism always faces towards a cabin opening stacking position, so that the fixed-area piling and discharging are realized.

The width of the conveyor belt used in the examples was 1.8 to 2m, and the width of the conveyor belt was 1 to 1.1 m.

Example 2:

an intelligent cleaning method of a crawler-type cabin cleaning machine is based on the intelligent cleaning method of the intelligent crawler-type cabin cleaning machine in embodiment 1, therefore, the content of embodiment 1 is applicable to this embodiment, laser radars are respectively arranged on the periphery and the top of a supporting frame, and a GNSS and IMU combined navigation device 906 is further arranged and installed on the top of the supporting frame, and the GNSS and IMU combined navigation device is arranged on the top of the supporting frame for supplementing the positioning of the laser radars, and the method includes:

the second step: rotating the cloth conveying mechanism, and enabling the outlet end of the tail end of a conveying belt of the cloth conveying mechanism to face a lower stacking position of the ship hatch according to the position of the ship hatch;

Wherein: collecting three-dimensional point cloud of a cabin by using a laser radar, and creating a map of the cabin; the method comprises the steps of collecting data of the inner wall of a cabin in real time, analyzing laser radar data, converting the accumulated material position information into an intelligent cabin cleaning mechanical coordinate system after the accumulated material position information to be cleaned is obtained, setting an operation flow of the intelligent cabin cleaning machinery based on the coordinate information, knowing the landform and the landform in the cabin through laser radar signals, wherein the laser radars are respectively arranged on the front, the back, the left and the right of a vehicle body and used for detecting the bulk material state around the intelligent cabin cleaning equipment, and two radars mounted on the top of the vehicle are respectively used for constructing a drawing, positioning and tracking and identifying a ship hatch. And the top of the vehicle body is provided with the combined navigation equipment for supplementing the laser radar positioning. And the intelligent cabin cleaning equipment control instruction is sent to an execution mechanism PLC controller by the MDC through an OPC _ UA communication module to control the action of the execution mechanism.

The control process uses a job behavior tree to control the whole job flow, and the job behavior tree uses four types of nodes as a sequence node, a parallel node, a selection node and an action node; the action node decomposes the operation steps of the intelligent cabin cleaning machine into a state initialization node, a material accumulation detection node, a path planning node, a positioning node, a cleaning node and an evaluation node; the selected nodes are used for judging whether each action node is executed in place, the sequence nodes and the parallel nodes control the trend of the overall execution flow of the intelligent cabin cleaning machine, and all the nodes adopt a blackboard for data communication.

The control unit hardware part uses Hua as MDC as a main control platform, data operation and interaction are carried out based on an ROS operating system, communication between a mechanical arm joint controller and the main control platform is carried out through OPC _ UA, after the MDC issues a mechanical arm tail end position instruction, joint angles of a mechanical arm (a material scraping roller supporting arm of a material scraping mechanism, a push shovel of a push shovel mechanism, a segmented rack of an aggregate conveying mechanism and a segmented conveying belt rack of an arm cloth conveyor) are obtained through inverse kinematics calculation by Moveit of the ROS, then the MDC platform communicates with the controller of each joint through OPC _ UA to control the movement of the mechanical arm to reach a cleaning position, and a cleaning task is executed; and remote control is carried out by using the remote client through UDP communication.

And after the intelligent cabin cleaning equipment is started, initializing the system. Firstly, loading a point cloud map established by a laser radar by an intelligent control system in MDC; starting a positioning module, analyzing environmental information returned by the laser radar by the positioning module, and positioning the current position of the cabin of the intelligent cabin cleaning equipment; starting a path planning module, planning an initial operation path for the intelligent cabin cleaning equipment by the path planning module, and setting the initial operation path as a return-shaped path; starting a sensing module, and detecting the mineral aggregate environment around the intelligent cabin cleaning equipment, the cabin wall and the cabin opening by using a laser radar; according to the position of the hold opening detected by the laser radar, a control instruction is issued to a three-level conveyor belt controller of the material distribution conveying mechanism by the MDC, and the tail position of the three-level conveyor belt is controlled to deflect to the hold opening; then the MDC issues an instruction to control the movement of a first, a second and a third-level conveyer belts of the cloth conveying mechanism, and the belt conveyor driving the conveyer belts to move is continuously driven by a motor; the control of the push shovel mechanism comprises the steps that firstly, the laser radar detects the quantity of mineral aggregates on the front operation surface of the intelligent cabin cleaning equipment, a decision module in the MDC calculates whether the mineral aggregates on the operation surface meet the push shovel operation condition or not, when the operation condition is met, the MDC controls the push shovel mechanism to continuously execute the shovel action by issuing a shovel control instruction, the mineral aggregates are moved to a conveyor belt (a material distribution conveying mechanism), and then the mineral aggregates are conveyed to a ship hatch through the conveyor belt. And when the quantity of the mineral aggregates on the working face does not meet the condition of continuing to push the shovel, the MDC issues a material shoveling stopping instruction, and then the next path point of the intelligent cabin cleaning equipment is calculated according to the planned path of the path planning module. And after the next path point is determined, the MDC reaches the intelligent cabin cleaning equipment walking mechanism controller under the advancing instruction, controls the intelligent cabin cleaning equipment to move to the next target point, and then starts the control flow of the material raking mechanism. The control flow of the material raking mechanism is as follows: the MDC analyzes mineral aggregate data detected according to the laser radar, determines a material raking operation point, issues a material raking instruction to the material raking mechanism, controls the material raking mechanical arm to move to the material raking point from a standby position to execute material raking operation, and continuously moves the mineral aggregate to the intelligent cabin cleaning equipment push shovel operation surface through the material raking execution mechanism during the material raking operation, and fills the push shovel operation surface. When the laser radar detects that the push shovel operation surface is full or no material can be raked from the raking operation surface, the MDC sends a command of stopping raking, and the raking mechanical arm is controlled to return to a standby point of the mechanical arm.

The material pushing mechanism is started to carry out material shoveling action, the material raking mechanism is started to rake materials, and the material raking mechanism is used for shoveling the bulk materials to the material distribution conveying mechanism in a coordinated mode; and after all the operation paths are completed, whether bulk material scaling exists is determined according to the acquired cabin wall information, if yes, the material raking mechanism is started when the intelligent cabin cleaning equipment runs to the position of 90 degrees +/-10 degrees on the left side of the scaling, and the scaling is shoveled through the material raking roller of the material raking mechanism.

According to the intelligent crawler-type cabin cleaning machine and the cabin cleaning method thereof, the push shovel, the conveying and the distributing are integrated, the distributing can rotate around the cabin opening stacking position, the bulk materials around the cabin can be stacked to the cabin opening stacking position without reversing and turning in the forward propelling process, the labor intensity is reduced, and the cabin cleaning efficiency is improved.

Claims

1. An intelligent crawler-type cabin cleaning machine comprises a supporting frame, crawler-type traveling mechanisms are respectively arranged on two sides of a supporting frame base, and the intelligent crawler-type cabin cleaning machine is characterized in that a material raking mechanism and a push shovel mechanism are respectively hinged on one side of the supporting frame from top to bottom, a rotary driving supporting seat is extended from the supporting frame base on the other side of the supporting frame opposite to one side of the supporting frame, a material distribution conveying mechanism is laid on the rotary driving supporting seat through a rotary supporting turntable seat, the rotary driving supporting seat is used for driving the rotary supporting turntable to enable the outlet end of the tail end of a conveying belt of the material distribution conveying mechanism to face towards a material piling position below a cabin opening all the time, aggregate conveying mechanisms are arranged on one side and the other side of the supporting frame, the front end of a conveying belt of the aggregate conveying mechanism is connected with the push shovel of the push shovel mechanism, the tail end of the conveying belt of the aggregate conveying mechanism is arranged on the rotary driving supporting seat, a hydraulic drive control cabinet is horizontally arranged in the middle of the supporting frame base, a hydraulic power source and a PLC controller are arranged in the control cabinet, the hydraulic power source is respectively connected with the crawler-type travelling mechanism, the raking mechanism, the push shovel mechanism, the distributing and conveying mechanism and the rotary drive supporting seat through a hydraulic drive switch to provide power, the output of the PLC controller is respectively connected with and controls the hydraulic power source and the hydraulic drive switch, an intelligent cabin cleaning controller is connected with the PLC controller, when the intelligent cabin cleaning device works, along with the walking of the cabin cleaning machine, the pushing shovel of the pushing shovel mechanism shovels the bulk materials to be sent to the conveying belt of the collecting conveying mechanism, or the bulk material is raked from a push shovel of the push shovel mechanism to a conveying belt of the collecting and conveying mechanism by a raking roller of the raking mechanism, and the bulk material falls onto a conveying belt of the distributing and conveying mechanism through the conveying belt of the collecting and conveying mechanism and is conveyed to a stacking position below a cabin opening for grabbing by a cabin unloading grab bucket.

2. The cabin cleaning machine according to claim 1, wherein the raking mechanism comprises a raking arm, the rear end of the raking arm is hinged to the upper end of one side of the supporting frame, a first hydraulic cylinder telescopic arm is arranged on the supporting frame under the hinged connection at the upper end, the front end of the first hydraulic cylinder telescopic arm is connected to the middle of the raking arm to drive the raking arm to swing up and down around the hinged connection, the raking roller is arranged at the front end of the raking arm and driven to rotate by a first hydraulic motor, the raking arm comprises a fixed arm and a raking telescopic arm, the fixed arm and the raking telescopic arm are sleeved with each other, the rear end of the fixed arm is hinged to the upper end of one side of the supporting frame through a rotating shaft, a second hydraulic cylinder telescopic arm is arranged on the fixed arm, and the front end of the second hydraulic cylinder telescopic arm is connected to the raking telescopic arm to drive the raking telescopic arm to move back and forth.

3. The cabin cleaning machine according to claim 1, wherein the push shovel mechanism comprises two push shovel push arms, the tail ends of the two push shovel push arms are hinged with two sides of the lower end of one side of the supporting frame, the two push shovel push arms are respectively arranged on two sides of the conveying belt of the aggregate conveying mechanism, a third hydraulic cylinder telescopic arm is respectively connected with one side of the supporting frame above the hinged connection of the two sides of the lower end, the front end of the third hydraulic cylinder telescopic arm is connected with the middle part of the push shovel push arm to drive the push shovel push arm to swing up and down around the hinged connection, and the push shovel is arranged at the front ends of the two push shovel push arms.

4. The cabin cleaning machine according to claim 1, wherein the aggregate conveying mechanism comprises a conveyor belt frame, the conveyor belt frame comprises a horizontal section frame and an inclined section frame which are hinged with each other, the horizontal section frame is arranged on the hydraulic drive control cabinet, the front end of the inclined section frame is connected with a push shovel of the push shovel mechanism and is arranged at the lower end or the rear side of the push shovel, the tail end of the horizontal section frame is arranged on the rotary drive supporting seat, an upper supporting roller and a lower supporting roller of the conveying belt are respectively arranged between two side plates of the conveying belt rack up and down, the upper supporting roller and the lower supporting roller are arranged at intervals along the length direction of the conveying belt rack, the front end of the inclined section rack is provided with a rotary drum, the tail end of the horizontal section rack is provided with a driving drum, the conveying belt bypasses the rotary drum and the driving drum on the upper side of the upper carrier roller and the lower carrier roller, and the driving drum is driven by a second hydraulic motor to rotate so as to drive the conveying belt to travel.

5. The cleaning machine of claim 1, wherein the cloth conveying mechanism comprises a conveyor belt frame, the conveyor belt frame is divided into at least two sections, namely a horizontal frame section and an inclined frame section, the horizontal frame section and the inclined frame section are hinged with each other, the horizontal frame section is laid on a rotary driving support seat through a rotary supporting turntable seat, a fourth hydraulic cylinder telescopic arm is arranged on the side wall of the horizontal frame section, the front end of the fourth hydraulic cylinder telescopic arm is connected with the inclined frame section to drive the inclined frame section to swing around the hinge connection to change the inclination angle of the inclined frame section, an upper carrier roller and a lower carrier roller of the conveyor belt are respectively arranged between two side plates of the conveyor belt frame, the upper carrier roller and the lower carrier roller are arranged at intervals along the length direction of the conveyor belt frame, a rotary drum is arranged at the front end of the horizontal frame section, and a driving drum is arranged at the tail end of the inclined frame section, the transmission band is walked around rotary drum and driving drum setting at last bearing roller and snub pulley upside, and driving drum drives rotatoryly and then drives the transmission band walking by third hydraulic motor, first slope frame section and the second slope frame section that the slope frame section set up around dividing into, first slope frame section and second slope frame section hinged joint, first slope frame section and horizontal frame section hinged joint are provided with the flexible arm of fifth pneumatic cylinder respectively in first slope frame section both sides board, and the flexible arm front end of fifth pneumatic cylinder is connected second slope frame section and is driven second slope frame section and rotate around hinged joint for folding slope frame section during non-operating condition.

6. The cabin cleaning machine according to claim 1, wherein the crawler type traveling mechanism includes toothed rollers fixed to front and rear ends of the support frame base, and a traveling crawler is provided around the toothed rollers at the front and rear ends, the crawler being engaged with the toothed rollers, one of the toothed rollers being an active toothed roller driven by a fourth hydraulic motor, and a plurality of crawler support wheels being provided between the toothed rollers at the front and rear ends.

7. The cabin cleaning machine according to claim 1, wherein the intelligent cabin cleaning controller comprises a plurality of laser radars and a control server connected with the laser radars, the laser radars are respectively arranged on the periphery and the top of the supporting frame, the laser radars arranged on the periphery of the supporting frame are used for detecting the peripheral bulk cargo state, the laser radars arranged on the top are used for establishing a map, positioning and tracking and identifying a ship hatch, and the control server is used for establishing a cabin point cloud map according to signals of the laser radars and sending control instructions to the PLC according to the bulk cargo state to realize intelligent cabin cleaning.

8. The hatcher as claimed in claim 7, wherein the intelligent controller further comprises a GNSS + IMU integrated navigation device disposed atop the support frame for supplementing lidar positioning.

9. An intelligent cleaning method of a crawler-type cabin cleaning machine is based on the intelligent cleaning method of the intelligent crawler-type cabin cleaning machine of claim 1, laser radars are respectively arranged on the periphery and the top of a supporting frame, and the method is characterized by comprising the following steps:

10. The intelligent cabin cleaning method according to claim 9, wherein the pushing shovel mechanism is started to carry out a shoveling action, and meanwhile, the raking mechanism is started to rake materials, and the raking mechanism cooperatively shovels the bulk materials to the distribution conveying mechanism; and after all the operation paths are completed, whether bulk material scaling exists is determined according to the acquired cabin wall information, if yes, the material raking mechanism is started, and scaling is eradicated through a material raking roller of the material raking mechanism.