CN115159059B - Belt conveying type automatic cleaning and feeding robot and working method thereof - Google Patents
Belt conveying type automatic cleaning and feeding robot and working method thereof Download PDFInfo
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- CN115159059B CN115159059B CN202210871114.8A CN202210871114A CN115159059B CN 115159059 B CN115159059 B CN 115159059B CN 202210871114 A CN202210871114 A CN 202210871114A CN 115159059 B CN115159059 B CN 115159059B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 239000000463 material Substances 0.000 claims abstract description 83
- 230000033001 locomotion Effects 0.000 claims description 49
- 238000007790 scraping Methods 0.000 claims description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 4
- 239000002994 raw material Substances 0.000 abstract description 4
- 239000010959 steel Substances 0.000 abstract description 4
- 230000003028 elevating effect Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011538 cleaning material Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/24—Gearing between driving motor and belt- or chain-engaging elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G33/00—Screw or rotary spiral conveyors
- B65G33/08—Screw or rotary spiral conveyors for fluent solid materials
- B65G33/14—Screw or rotary spiral conveyors for fluent solid materials comprising a screw or screws enclosed in a tubular housing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a belt conveying type automatic cleaning and feeding robot and a working method thereof, and belongs to the field of robots. The automatic collecting and cleaning device solves the problems that a cleaning robot on a raw material wharf of a steel plant can not automatically collect and clean scattered materials of a conveyor and has low cleaning efficiency. The robot comprises a collecting mechanism, a belt lifting conveying mechanism, a vehicle body chassis, a belt throwing and lifting mechanism, a generator set and a control box, wherein the collecting mechanism is placed at the bottom of the front end of the vehicle body chassis, the belt lifting conveying mechanism, the vehicle body chassis, the belt throwing and lifting mechanism, the generator set and the control box are all arranged on the vehicle body chassis, the belt lifting conveying mechanism is placed at the rear part of the collecting mechanism, the belt throwing and lifting mechanism is placed at the rear part of the belt lifting conveying mechanism, the generator set and the control box are placed at the lower part of the belt lifting conveying mechanism, and a depth camera and a laser radar are installed in front of and behind the robot. The invention is suitable for automatically collecting and cleaning scattered materials of the conveyor on the raw material stacking head of the steel plant.
Description
Technical Field
The invention belongs to the field of industrial mechanical robots, and particularly relates to a belt conveying type automatic cleaning and feeding robot capable of automatically cleaning scattered materials at a port and a dock and collecting and transporting the scattered materials to a designated conveyor belt and a working method of the belt conveying type automatic cleaning and feeding robot.
Background
A Kv8 cleaning robot developed by Shenzhen Yinxing intelligent science and technology Co-Ltd has an intelligent computer system, an automatic spiral navigation system and 21 perception heads, can synchronously sweep, wipe, wash dust and purify air, and is suitable for cleaning places such as hotels, families and companies. The device is not applicable to industrial sites. At present, in the field of industrial machinery, particularly in the raw material stacking head of a steel plant, when a port machine unloads a ship, materials are placed in a charging port above a belt conveyor, the materials fall onto the belt conveyor through the charging port to be transported, when the belt conveyor conveys the materials, the materials are scattered on two sides of the belt conveyor and below the belt conveyor due to reasons of sticky materials, shaking, deviation and the like, and a method for cleaning the scattered materials is mainly manual, so that the problems of severe working environment, high labor intensity and safety risk, low cleaning efficiency and the like exist.
It is therefore necessary to design an automatic cleaning device that enables the cleaning robot to automatically collect and clean the scattered material of the conveyor.
Disclosure of Invention
Therefore, the invention aims to provide a belt conveying type automatic cleaning and feeding robot so as to solve the problems that the cleaning robot on a raw material wharf of a steel plant cannot automatically collect and clean scattered materials of a conveyor and the cleaning efficiency is low.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
The utility model provides an automatic material loading robot that cleans of belt conveyor formula, includes collection mechanism, belt lift conveying mechanism, automobile body chassis, belt throw send and elevating system, generating set and control box, collection mechanism place in the front end bottom of automobile body chassis, belt lift conveying mechanism, automobile body chassis, belt throw send and elevating system, generating set and control box all set up on automobile body chassis, belt lift conveying mechanism place in collection mechanism's rear portion, belt throw send and elevating system place in belt lift conveying mechanism rear portion, generating set place in belt lift conveying mechanism's lower part, all install degree of depth camera and laser radar around the robot, automobile body chassis walking drives the robot walking, collection mechanism is used for collecting and smashes cubic material and with the entrance of material propelling movement to belt lift conveying mechanism, the material is thrown to belt through belt lift conveying mechanism's exit to belt and is sent and elevating system, the generating set is the power supply for each equipment, the control box is used for controlling the action of each equipment.
Further, the collecting mechanism comprises an upper spiral auger, a lower spiral auger, a left scraping plate auger, a right scraping plate auger, an upper spiral auger motor, a lower spiral auger motor, a left scraping plate auger motor and a right scraping plate auger motor, wherein the upper spiral auger and the lower spiral auger are arranged in the first shell in a vertically opposite mode, the upper spiral auger motor and the lower spiral auger motor are arranged on the first shell, the left scraping plate auger and the right scraping plate auger Long An are arranged in the second shell, the left scraping plate auger motor and the right scraping plate auger motor are arranged on the second shell, the left scraping plate auger and the right scraping plate auger are positioned on the front sides of the upper spiral auger and the lower spiral auger, the first shell is arranged behind the second shell, all shells are connected with a vehicle body chassis through supporting frames, and the motors drive the respective augers to move through chain transmission; the upper spiral auger is divided into a left spiral auger and a right spiral auger, the lower spiral auger is divided into a middle scraping plate, a left spiral auger and a right spiral auger, the left spiral direction and the right spiral direction are opposite, the left scraping plate auger and the right scraping plate auger are used for breaking bulk materials and conveying the materials into the lower spiral auger, and the materials are collected by the auger and conveyed to an inlet of the belt lifting conveying mechanism through the middle scraping plate.
Still further, belt promotes conveying mechanism includes belt hoist, support, electric putter and first linear motion module, is equipped with the axis of rotation at belt hoist intermediate position, and the axis of rotation is installed on the support, and electric putter's output is connected with belt hoist's lower surface, and electric putter promotes belt hoist and revolutes the axis of rotation and rotates, and support and electric putter all install on the slip table of first linear motion module, and the slip table drives belt hoist, support and electric putter back-and-forth movement.
Further, the electric push rod is driven by an electric push rod motor, and the first linear motion module is driven by a linear motion module motor.
Still further, belt throwing and elevating system includes band conveyer, lower band conveyer, second rectilinear motion module and cuts fork elevating system, second rectilinear motion module is installed on cutting fork elevating system, but band conveyer installs on the slip table of second rectilinear motion module down, but left and right movement, band conveyer installs on the base of second rectilinear motion module, band conveyer is located band conveyer's below down in the top, band conveyer and band conveyer stagger down in the during operation arranges, and band conveyer is corresponding with band lifting conveyor's exit, carry the material through the material on the depth camera discernment transport and carry out left or right to the material.
Further, the upper belt conveyor is arranged on the base of the second linear motion module through a supporting rod.
Furthermore, the chassis of the vehicle body adopts a four-wheel mechanism, four wheels are driven by two wheel motors, a pair of wheels on the same side share one wheel motor for driving, the wheel motor is connected with a motor reducer, a chain wheel is arranged on an output shaft of the motor reducer, the chain wheel is connected with the wheels on the front through a chain, and the pair of wheels on the same side are connected through a chain.
Further, a plurality of riding wheels for supporting chains are arranged on the chassis of the vehicle body between the wheels at the front and rear positions.
Furthermore, the generator set is a diesel generator set, and the scissor-fork type lifting mechanism is a scissor-fork type lifting table.
Another object of the present invention is to provide a working method of a belt conveying type automatic cleaning and feeding robot, which comprises
When the belt lifting and conveying mechanism does not work, the belt lifting and conveying mechanism is in a horizontal position, and the belt throwing and lifting mechanism is in a descending state; during operation, the belt lifting conveying mechanism is adjusted to form a certain angle with the ground, the belt throwing and lifting mechanism is in a lifting state, the robot obtains a color image and a depth image of the environment through the depth camera and the laser radar to realize automatic driving path planning, the robot is driven by the chassis of the vehicle body, the collecting mechanism drives the auger to complete cleaning tasks through the motor in the running process of the robot, the cleaned materials are conveyed to the belt lifting conveying mechanism through the scraping plate, the materials are conveyed to the belt throwing and lifting mechanism through the belt lifting conveying mechanism, and according to different types of the materials, the belt conveyor is driven by the second linear motion module to convey the materials to the left or right conveying belt to complete cleaning and collecting of the materials.
Compared with the prior art, the belt conveying type automatic cleaning and feeding robot has the beneficial effects that:
(1) The belt conveying type automatic cleaning and feeding robot can clean the materials which are condensed into blocks through left and right scraper augers, and can also ensure that the robot can finish cleaning tasks in a severe working environment by using chain transmission. The robot can recognize the conveyed material (coal or iron ore) through the depth camera, so that the material is conveyed leftwards or rightwards.
(2) The belt conveying type automatic cleaning and feeding robot can realize the functions of automatically cleaning, collecting and transporting scattered materials to a specified material conveyor belt; thereby improving the production efficiency and reducing the material loss.
(3) The belt conveying type automatic cleaning and feeding robot provided by the invention provides higher precision and efficiency through the characteristics of computer control, ensures the quantity of cleaning materials and the cleaning speed in the face of a complex cleaning environment, shortens the operation time, reduces the workload of operators, simplifies the steps and improves the production efficiency.
(4) The automatic cleaning and feeding device is mainly used for automatically cleaning and feeding materials in an industrial environment, and is suitable for: (1) The working time is long, the range is large, but the working environment is rough; (2) The material volume that needs to clean is big, and quantity is uncertain occasion. (3) And (3) occasions for classifying and feeding the cleaned materials are needed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
Fig. 1 is a schematic structural view of a belt lifter of an automatic cleaning and feeding robot in an inclined state according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an automatic cleaning and feeding robot in a non-working state according to an embodiment of the present invention;
Fig. 3 is a schematic structural view of a collecting mechanism of an automatic cleaning and feeding robot according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of a belt lifting and conveying mechanism of an automatic cleaning and feeding robot according to an embodiment of the present invention;
Fig. 5 is a schematic structural view of a belt throwing and lifting mechanism of an automatic cleaning and feeding robot according to an embodiment of the present invention;
Fig. 6 is a schematic structural diagram of a chassis of an automatic cleaning and feeding robot according to an embodiment of the present invention.
Reference numerals illustrate:
1. A collection mechanism; 2. a belt lifting and conveying mechanism; 3. a vehicle body chassis; 4. belt throwing and lifting mechanism; 5. a generator set; 6. a control box; 7. a lower screw auger; 8. a spiral auger is arranged; 9. a left scraper screw conveyer; 10. a left scraper screw motor; 11. a screw auger motor is arranged on the upper part; 12. a lower screw auger motor; 13. a right scraper screw motor; 14. a chain; 15. a right scraper screw conveyer; 16. an intermediate scraper; 17. a belt hoist; 18. an electric push rod; 19. an electric push rod motor; 20. a linear motion module motor; 21. a first linear motion module; 22. a bracket; 23. a lower belt conveyor; 24. an upper belt conveyor; 25. the second linear motion module; 26. a scissor lift table; 27. a wheel; 28. a wheel motor; 29. a sprocket; 30. a chain; 31. a riding wheel; 32. a chain.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention disclosed herein without departing from the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention will be understood in a specific case by those skilled in the art.
In addition, the technical features which are described below and which are involved in the various embodiments of the invention can be combined with one another as long as they do not conflict with one another.
As shown in fig. 1-6, the belt conveying type automatic cleaning and feeding robot comprises a collecting mechanism 1, a belt lifting conveying mechanism 2, a vehicle body chassis 3, a belt throwing and lifting mechanism 4, a generator set 5 and a control box 6, wherein the collecting mechanism 1 is placed at the bottom of the front end of the vehicle body chassis 3, the belt lifting conveying mechanism 2, the vehicle body chassis 3, the belt throwing and lifting mechanism 4, the generator set 5 and the control box 6 are all arranged on the vehicle body chassis 3, the belt lifting conveying mechanism 2 is placed at the rear part of the collecting mechanism 1, the belt throwing and lifting mechanism 4 is placed at the rear part of the belt lifting conveying mechanism 2, the generator set 5 is placed at the lower part of the belt lifting conveying mechanism 2, a depth camera and a laser radar are all installed at the front and rear parts of the robot, the vehicle body chassis 3 walks to drive the robot to walk, the collecting mechanism 1 is used for collecting and smashing bulk materials and pushing the materials to the inlet of the belt lifting conveying mechanism 2, the materials fall to the belt lifting mechanism 4 from the outlet of the belt lifting conveying mechanism 2 through the belt lifting conveying mechanism 2, the belt lifting conveying mechanism 4 is used for controlling power supply equipment and the generator sets 5 are used for power supply equipment and power supply equipment 6. A depth camera (not shown) and a laser radar (not shown) are arranged in the center positions, which are 1 meter away from the ground, of the front and rear of the robot, and can simultaneously acquire color images and depth images (distances) of the environment for obstacle and target detection, obstacle avoidance, path planning, navigation, automatic driving and the like.
The collecting mechanism 1 comprises an upper screw auger 8, a lower screw auger 7, a left scraper screw auger 9, a right scraper screw auger 15, an upper screw auger motor 11, a lower screw auger motor 12, a left scraper screw auger motor 10 and a right scraper screw auger motor 13, wherein the upper screw auger 8 and the lower screw auger 7 are arranged in a first shell in a vertically opposite mode, the upper screw auger motor 11 and the lower screw auger motor 12 are arranged on the first shell, the left scraper screw auger 9 and the right scraper screw auger 15 are arranged in a second shell, the left scraper screw auger motor 10 and the right scraper screw auger motor 13 are arranged on the second shell, the left scraper screw auger 9 and the right scraper screw auger 15 are positioned on the front sides of the upper screw auger and the lower screw auger, the first shell is arranged at the rear of the second shell, all the shells are connected with a chassis 3 of a vehicle body through a supporting frame, the shells are of a frame structure, the materials are not affected by the screw augers to be collected and are transmitted to the belt lifting conveying mechanism, and the motors are driven to move by chains; the upper spiral screw feeder 8 is divided into a left spiral screw feeder and a right spiral screw feeder 7 is divided into a middle scraping plate 16, a left spiral screw feeder and a right spiral screw feeder, the left spiral screw feeder and the right spiral screw feeder are opposite in spiral directions, the left scraping plate screw feeder and the right scraping plate screw feeder are used for breaking large materials and conveying the materials into the lower spiral screw feeder 7, and the materials are collected by the screw feeder and conveyed to the inlet of the belt lifting conveying mechanism 2 through the middle scraping plate 16.
The belt lifting conveying mechanism 2 comprises a belt lifting machine 17, a support 22, an electric push rod 18 and a first linear movement module 21, a rotating shaft is arranged in the middle of the lower portion of the belt lifting machine 17, the rotating shaft is arranged on the support 22, the output end of the electric push rod 18 is connected with the lower surface of the belt lifting machine 17, the electric push rod 18 pushes the belt lifting machine 17 to rotate around the rotating shaft, the support 22 and the electric push rod 18 are arranged on a sliding table of the first linear movement module 21, and the sliding table drives the belt lifting machine 17, the support 22 and the electric push rod 18 to move back and forth. The electric push rod 18 is driven by an electric push rod motor 19, and the first linear motion module 21 is driven by a linear motion module motor.
The belt throwing and lifting mechanism 4 comprises an upper belt conveyor 24, a lower belt conveyor 23, a second linear motion module 25 and a scissor fork type lifting mechanism, wherein the second linear motion module 25 is arranged on the scissor fork type lifting mechanism, the lower belt conveyor 23 is arranged on a sliding table of the second linear motion module 25 and can move left and right, the upper belt conveyor 24 is arranged on a base of the second linear motion module 25, the upper belt conveyor 24 is arranged above the lower belt conveyor 23, the upper belt conveyor 24 and the lower belt conveyor 23 are staggered in working, the upper belt conveyor 24 corresponds to an outlet of the belt lifting conveying mechanism 2, materials on the conveying are conveyed leftwards or rightwards through identification of a depth camera, and movement of the second linear motion module is controlled after identification of the depth camera and identification of an upper computer, and the control mode belongs to the prior control mode and is not repeated herein. The upper belt conveyor 24 is mounted on the base of the second linear motion module 25 by a strut.
The chassis 3 of the car body adopts a four-wheel mechanism, four wheels are driven by two wheel motors 28, a pair of wheels 27 on the same side share one wheel motor 28 for driving, the wheel motors are connected with a motor reducer, a chain wheel 29 is arranged on an output shaft of the motor reducer, the chain wheel is connected with the wheels on the front through a chain 30, and the pair of wheels 27 on the same side are connected by a chain 32. Due to the relatively long chain, a number of riding wheels 31 for riding the chain 32 are mounted on the body chassis 3 between the front and rear wheels 27.
The generator set 5 is a diesel generator set 5 and is responsible for providing power for the robot, and the scissor lift mechanism is a scissor lift table 26.
The control box 6 is installed at the rear end of the chassis 3 of the vehicle body, and is responsible for sensing the state and environmental information of the robot, image processing, obstacle and target detection, obstacle avoidance, path planning, operation planning, control of the robot and various motion mechanisms thereof, communication with a remote control computer and the like. The robot can move and work autonomously, and can be controlled by manual remote control or on site. The control system consists of an industrial control computer, a control board card (or PLC), an industrial wireless network card, a depth camera (2 stations), a laser radar, a motor controller, a direct current power supply (AC-DC), a sensor (a proximity switch, a travel switch, a two-dimensional inclination angle sensor, an ultrasonic distance meter, a millimeter wave radar and the like), various electrical elements and the like.
The remote control system of the robot has the following structure that the industrial personal computer is a vehicle-mounted industrial control computer of the robot, and is accessed to the broadband Internet in a dialing mode by adopting a VPDN (Virtual PRIVATE DIAL Network) through a wireless Network card, and is safely accessed to an enterprise intranet by adopting a special Network encryption and communication protocol. The VPDN establishes a secure virtual private network over a transport network by implementing reliable network security using a private communication protocol. The VPDN user connects with the user's internal network through a virtual "tunnel" on the transport network, while other users on the transport network cannot enter the "tunnel" to access the internal resources of the user's network.
The industrial personal computer on the robot starts a processing program, accesses the Internet through the dialing function of the wireless network card, and then is connected to the special server. The local special server can communicate with the robot to acquire the state information and the environment and working condition information of the robot, and send a control instruction to the robot to realize remote control of the robot. The control box and the control method related to the application are all existing structures and methods, and are not described herein.
A working method of a belt conveying type automatic cleaning and feeding robot comprises the following steps of
When the belt conveyer is not in operation, the control box 6 controls the electric push rod motor 19 to drive the electric push rod 18 to extend out so that the belt lifter 17 of the belt lifting conveying mechanism 2 is in a horizontal position, and the linear movement module motor 20 is used for adjusting the sliding table of the first linear movement module 21 to be positioned at the rearmost end of the first linear movement module, so that the scissor type lifting table 26 of the belt throwing and lifting mechanism 4 is in a descending state;
When the device works, the control box 6 controls and regulates the belt lifting and conveying mechanism 2 to form a certain angle with the ground, namely, the electric push rod motor 19 drives the electric push rod 18 to retract so that the belt lifter 17 rotates around a rotating shaft on the bracket 22, the front end of the belt lifter 17 is low, the rear end of the belt lifter 17 is high, the belt lifter 17 forms 30 degrees with the horizontal plane, and the sliding table of the first linear motion module 21 is regulated by the linear motion module motor 20 to be positioned at the foremost end of the first linear motion module; the scissor lift table 26 of the adjusting belt throwing and lifting mechanism 4 is in a lifted state;
the robot obtains color images and depth images of the environment through a depth camera and a laser radar to realize automatic driving path planning, the robot is driven by a vehicle chassis 3, in the walking process of the robot, a collecting mechanism 1 is driven by a left scraper auger motor 10 and a right scraper auger motor 13 respectively through a left scraper auger 9 and a right scraper auger 15, the materials which are in blocks are crushed and conveyed to an intermediate scraper 16 of a lower auger 7, the upper auger motor 11 drives an upper auger 8 to move and be in charge of crushing the blocks and gathering the materials to the middle, the lower auger motor 12 drives a lower auger 7 to move and be in charge of crushing the blocks and gathering scattered materials to the middle scraper 16 from left to right, the middle scraper 16 is in charge of pushing the materials to an inlet of a belt lifting conveying mechanism 2, the cleaned materials are conveyed to the belt lifting mechanism 17 of the belt lifting mechanism 2 through the middle scraper 16, the materials are thrown and conveyed to an upper belt conveyor 24 of the belt lifting mechanism 4 through the belt lifting mechanism 17, the components of the materials are analyzed through the depth camera, and the materials are conveyed to a corresponding belt conveyor 23 through a second linear movement module 25 or a corresponding cleaning belt is driven to the left side and right side according to the requirements; the method comprises the following steps: when the material is conveyed leftwards, the sliding table of the linear motion module drives the lower belt conveyor to move leftwards to the left end of the linear motion module, and the upper belt conveyor and the lower belt conveyor both convey the material leftwards and throw the material back to the left belt conveyor (the belt conveyor of the conveying line on the ground); when the material is conveyed rightwards, the sliding table of the linear motion module drives the lower belt conveyor to move rightwards to the right end of the linear motion module, and the upper belt conveyor and the lower belt conveyor both convey the material rightwards and throw the material back to the right belt conveyor;
If the large vehicle (a material pouring groove) is encountered, the sliding table drives the belt conveyor to shrink so as to avoid the large vehicle; after the work is completed, the scissor fork type lifting mechanism descends, and the belt lifting conveying mechanism returns to the initial state.
The application discloses a belt conveying type automatic cleaning and feeding robot, which aims at the conditions that the quantity of each pile is generally uncertain (the height of scattered materials in one day is 20mm in normal condition and 500mm in extreme condition), but the specific gravity of the materials is generally larger, the materials are more viscous in rainy days, caking can occur when the materials fall to the ground, and the materials are difficult to clean, and the material receiving content is as follows: the dropped ores (which can be discrete or piled) are less scattered in the process of transporting materials by the belt conveyor, the materials are scattered and concentrated at the port machine operation place, and the automatic cleaning operation can be carried out due to bad weather; receiving materials at least reaches 80% of total waste materials on the ground, and conveying the collected blanking materials to a conveying belt after falling and collecting, wherein the robot operation time is as follows: the ore blanking is cleaned for 2 times a day, the blanking is cleaned once more, and the cleaning is not required during raining.
The industrial cleaning robot can well clean an industrial site, can automatically control the industrial cleaning robot in the using process, and is simple in operation process.
The inventive embodiments disclosed above are merely intended to help illustrate the inventive embodiments. The examples are not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.
Claims (8)
1. The utility model provides an automatic material loading robot that cleans of belt conveyor formula which characterized in that: the automatic lifting and conveying device comprises a collecting mechanism (1), a belt lifting and conveying mechanism (2), a vehicle body chassis (3), a belt throwing and lifting mechanism (4), a generator set (5) and a control box (6), wherein the collecting mechanism (1) is arranged at the bottom of the front end of the vehicle body chassis (3), the belt lifting and conveying mechanism (2), the vehicle body chassis (3), the belt throwing and conveying mechanism (4), the generator set (5) and the control box (6) are all arranged on the vehicle body chassis (3), the belt lifting and conveying mechanism (2) is arranged at the rear part of the collecting mechanism (1), the belt throwing and conveying mechanism (4) is arranged at the rear part of the belt lifting and conveying mechanism (2), the generator set (5) is arranged at the lower part of the belt lifting and conveying mechanism (2), a depth camera and a laser radar are arranged at the front and rear parts of the robot, the vehicle body chassis (3) walks to drive the robot, the collecting mechanism (1) is used for collecting and crushing block materials and pushing the materials to the inlet of the belt lifting and conveying mechanism (2), the materials fall from the belt lifting and conveying mechanism (2) to the control box (6) through the belt lifting and conveying mechanism (2) to the control box (6), and the generator set (5) is used for conveying and the control box (6) to move from the power supply equipment (2) to the generator set (2).
The collecting mechanism (1) comprises an upper screw auger (8), a lower screw auger (7), a left scraping screw auger (9), a right scraping screw auger (15), an upper screw auger motor (11), a lower screw auger motor (12), a left scraping screw auger motor (10) and a right scraping screw auger motor (13), wherein the upper screw auger (8) and the lower screw auger (7) are arranged in a first shell in an up-down opposite mode, the upper screw auger motor (11) and the lower screw auger motor (12) are arranged on the first shell, the left scraping screw auger (9) and the right scraping screw auger (15) are arranged in a second shell, the left scraping screw auger motor (10) and the right scraping screw auger motor (13) are arranged on the second shell, the left scraping screw auger (9) and the right scraping screw auger (15) are located on the front sides of the upper screw auger and the lower screw auger, the first shell is arranged at the rear of the second shell, and all the shells are connected with a vehicle chassis (3) through a support frame, and the motors drive the respective screw augers through chain transmission; the upper screw auger (8) is divided into a left screw auger and a right screw auger, the lower screw auger (7) is divided into a middle scraping plate (16) and a left screw auger and a right screw auger, the left screw auger and the right screw auger are opposite in screw direction, the left screw auger and the right screw auger are used for breaking up large materials and sending the materials into the lower screw auger (7), and the materials are collected by the screw auger and are conveyed to the inlet of the belt lifting conveying mechanism (2) through the middle scraping plate (16);
The belt throwing and lifting mechanism (4) comprises an upper belt conveyor (24), a lower belt conveyor (23), a second linear motion module (25) and a scissor fork lifting mechanism, the second linear motion module (25) is arranged on the scissor fork lifting mechanism, the lower belt conveyor (23) is arranged on a sliding table of the second linear motion module (25) and can move left and right, the upper belt conveyor (24) is arranged on a base of the second linear motion module (25), the upper belt conveyor (24) is arranged above the lower belt conveyor (23), the upper belt conveyor (24) and the lower belt conveyor (23) are staggered in operation, the upper belt conveyor (24) corresponds to an outlet of the belt lifting conveying mechanism (2), and materials on conveying are identified through a depth camera to convey the materials leftwards or rightwards.
2. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 1, wherein: the belt lifting conveying mechanism (2) comprises a belt lifting machine (17), a support (22), an electric push rod (18) and a first linear movement module (21), a rotating shaft is arranged at the middle position of the belt lifting machine (17), the rotating shaft is arranged on the support (22), the output end of the electric push rod (18) is connected with the lower surface of the belt lifting machine (17), the electric push rod (18) pushes the belt lifting machine (17) to rotate around the rotating shaft, the support (22) and the electric push rod (18) are all arranged on a sliding table of the first linear movement module (21), and the sliding table drives the belt lifting machine (17), the support (22) and the electric push rod (18) to move back and forth.
3. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 2, wherein: the electric push rod (18) is driven by an electric push rod motor (19), and the first linear motion module (21) is driven by a linear motion module motor (20).
4. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 1, wherein: the upper belt conveyor (24) is arranged on the base of the second linear motion module (25) through a supporting rod.
5. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 1, wherein: the chassis (3) of the car body adopts a four-wheel mechanism, four wheels are driven by two wheel motors (28), a pair of wheels (27) on the same side share one wheel motor (28) for driving, the wheel motors are connected with a motor reducer, a chain wheel (29) is arranged on an output shaft of the motor reducer, the chain wheel is connected with the wheels on the front through a chain (30), and the pair of wheels (27) on the same side are connected through a chain (32).
6. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 5, wherein: a plurality of riding wheels (31) for supporting chains (32) are arranged on a chassis (3) of the car body between the wheels (27) at the front and rear positions.
7. The belt conveyor type automatic cleaning and feeding robot as claimed in claim 1, wherein: the generator set (5) is a diesel generator set, and the scissor-fork type lifting mechanism is a scissor-fork type lifting table (26).
8. The working method of the belt conveying type automatic cleaning and feeding robot according to any one of claims 1 to 7, wherein the working method comprises the following steps: comprising
When the belt lifting conveying mechanism (2) does not work, the belt throwing and lifting mechanism (4) is in a descending state at the horizontal position;
during operation, the belt lifting conveying mechanism (2) is adjusted to form a certain angle with the ground, the belt throwing and lifting mechanism (4) is in a lifted state, the robot obtains a color image and a depth image of the environment through the depth camera and the laser radar to realize automatic driving path planning, the robot is driven by the vehicle body chassis (3), the collecting mechanism (1) drives the auger through the motor to complete cleaning tasks in the walking process of the robot, the cleaned materials are conveyed to the belt lifting conveying mechanism (2) through the scraping plate, the materials are conveyed to the belt throwing and lifting mechanism (4) through the belt lifting conveying mechanism (2), and the materials are conveyed to a left conveying belt or a right conveying belt through the belt conveyor (23) under the driving of the second linear movement module (25) according to different types of the materials, so that the cleaning and the collecting of the materials are completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871114.8A CN115159059B (en) | 2022-07-22 | 2022-07-22 | Belt conveying type automatic cleaning and feeding robot and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871114.8A CN115159059B (en) | 2022-07-22 | 2022-07-22 | Belt conveying type automatic cleaning and feeding robot and working method thereof |
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| Publication Number | Publication Date |
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| CN115159059A CN115159059A (en) | 2022-10-11 |
| CN115159059B true CN115159059B (en) | 2024-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210871114.8A Active CN115159059B (en) | 2022-07-22 | 2022-07-22 | Belt conveying type automatic cleaning and feeding robot and working method thereof |
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| CN111483766A (en) * | 2020-03-30 | 2020-08-04 | 科捷智能装备有限公司 | Slope conveying control method |
| CN212562213U (en) * | 2020-05-13 | 2021-02-19 | 安阳工学院 | Machine for removing accumulated snow on roof |
| CN113774851A (en) * | 2021-10-08 | 2021-12-10 | 郑州铁路职业技术学院 | Railway track snow cleaning device |
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2022
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103114873A (en) * | 2013-02-06 | 2013-05-22 | 李玉才 | Smoke-abatement and dust-extraction ground material collecting conveyor |
| CN104709675A (en) * | 2015-02-03 | 2015-06-17 | 浙江理工大学 | Drawer type flood prevention sandbag continuous throwing machine achieving two-stage special-shaped belt transmission |
| CN205833287U (en) * | 2016-07-25 | 2016-12-28 | 天津市新世纪苗木种植专业合作社 | Drying unit pulverized by a kind of chemical fertilizer |
| CN206172394U (en) * | 2016-08-31 | 2017-05-17 | 金华宜安自动化科技有限公司 | Industry conveyor |
| CN111483766A (en) * | 2020-03-30 | 2020-08-04 | 科捷智能装备有限公司 | Slope conveying control method |
| CN212562213U (en) * | 2020-05-13 | 2021-02-19 | 安阳工学院 | Machine for removing accumulated snow on roof |
| CN113774851A (en) * | 2021-10-08 | 2021-12-10 | 郑州铁路职业技术学院 | Railway track snow cleaning device |
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| Publication number | Publication date |
|---|---|
| CN115159059A (en) | 2022-10-11 |
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