CN205928685U - Clear storehouse scale removal robot of intelligence - Google Patents
Clear storehouse scale removal robot of intelligence Download PDFInfo
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- CN205928685U CN205928685U CN201620960587.5U CN201620960587U CN205928685U CN 205928685 U CN205928685 U CN 205928685U CN 201620960587 U CN201620960587 U CN 201620960587U CN 205928685 U CN205928685 U CN 205928685U
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Abstract
The utility model discloses a clear storehouse scale removal robot of intelligence, include: can follow the flexible support element who slides of A predetermined direction, be connected with rotatory extension means on support element's the supporting platform, rotatory extension means's free end is connected with one and can follows A predetermined direction emergence displacement, and then accomplishes the clean unit of power of clean action, wherein, and support element, rotation extension means, the equal communication connection of the clean unit of power a to support element 0. Adopt the utility model discloses a this kind of clear storehouse scale removal robot of intelligence, through the coordination of control system to each unit, the accurate control, realize the robot to the clean function of industry storage warehouse's such as dust storehouse and cement bunker intelligence, solved artifical scale removal difficult, clear away thoroughly and the high problem of incident rate, improved production efficiency, practiced thrift the energy, ensured workman's personal safety.
Description
Technical field
The utility model is related to a kind of robot, more specifically, the utility model be related to a kind of cover water conservancy, nuclear power,
The energy, the intelligent Qing Ku scale removal robot of chemical field storage warehouse.
Background technology
Clear storehouse operation is because cement bunker or other powder storehouses because, in discharging difficulty causes a large amount of material lagging storehouses, causing to store up
Library facility lost efficacy, the means that must not then adopt.Effect in manufacture of cement for the cement bank is very important, its storage
Function can play the effect of balanced production in manufacture of cement.In actual clear storehouse operates, also rarely found have leave the special of people
Clear library facilities carries out the operation of clear storehouse, mostly still adopts human assistance to be operated with the method for instrument.This just determines clear storehouse
Work has danger, and need to carry out in the larger environment of dust pollution.General silo roof has deduster, during clear storehouse operation
The deduster of silo roof can be opened, the environment in such storehouse can be better, the relatively effective deduster of actually every silo roof,
In the operation of clear storehouse because people walk about or the contact with material for the instrument easily causes the reentrainment of dust of material so that environment in storehouse
Worse.Therefore, manually clear storehouse typically dare not use silo roof cleaner.
Specifically its working environment cement bunker specification and environment are illustrated, existing cement bunker basic size：Height 40m,
Bore 20m, the material being detained in storehouse is in variform, and clear storehouse finds, one kind is empty ash, that is, surface be in powdery can fluidised and
Surface be in solid-state but through loosening or gasification after become fluidised empty ash.Second is solid ash, and that is, surface is in solid-state, warp
Fritter in solid-state after loosening, this ash cannot be realized gasifying, and solid-state ash intensity is not high.The third is to condense ash, and this ash is in
Hard bulk, is typically attached to bulkhead, is to react with ash after moisture in powder forms condensed water on bulkhead and coagulates
The block of knot.This block profile is larger, and intensity is higher, generally requires pneumatic pick, the method for electric pick, iron pick or vibration just may be used
To clear up.
But cement bunker is narrow due to narrow space, storehouse feelings complexity, access way, and field worker will face falling object from high altitude, height
Ash is buried, empty ash floods people, anoxia asphyxia, the test of Electrical Safety equivalent risk.This also makes in cement production enterprise, and deashing works
Become an and security risk bigger high-risk job big to operator's health effect, simultaneously traditional clear storehouse works, the time
Probably need 15 days, therefore typically require stopping production operation, have impact on the production efficiency of enterprise.
Therefore how to solve clear storehouse potential safety hazard, and how to improve production work efficiency, energy saving is to be badly in need of solving
A difficult problem.
Utility model content
A purpose of the present utility model is to solve at least the above and/or defect, and provides and at least will be described later
Advantage.
The utility model, it is also an object that providing a kind of Neng Qingku scale removal robot, which solves cement bunker or powder
Material storehouse causes in substantial amounts of material lagging storehouse in long storing, and when discharging is difficult, and being manually not easily cleaned of causing
Situation, by support unit, rotary extension unit, power cleaning unit, control unit mate-assist, realize pass through machine
Equipment completes the work of clear storehouse, the mode manually carrying out cleaning operation before changing, and need not be manually entered in the library and carry out appointing
What less important work, and then make the unsafe factor in tradition clear storehouse work be not in reduce operating irregularity generation
Probability is it is ensured that staff's security of the lives and property；And with respect to traditional manual work its need not stop production it is only necessary to 2-3 just
The operation of clear storehouse can be completed, effectively increase production efficiency, greatly save the energy.
In order to realize according to these purposes of the present utility model and further advantage, there is provided a kind of intelligence storehouse scale removal machine clearly
People, including：
Can be stretched the support unit sliding along predetermined direction；
Rotary extension unit is connected with the support platform of support unit；
The free end of rotary extension unit is connected with one and can be subjected to displacement along predetermined direction, and then completes the dynamic of cleaning action
Power cleaning unit；
Wherein, support unit, rotary extension unit, power cleaning unit are all communicatively connected to a control terminal.
Preferably, control terminal includes：
One distribution box；
The Hydraulic Station being connected with support unit, rotary extension unit respectively；
Control system with the communication connection of support unit, rotary extension unit and power cleaning unit respectively.
Preferably, power cleaning unit by multiple fixed pulley groups of being arranged on Telescopic rotating unit lateral wall and then
It is connected with carrying means.
Preferably, support unit includes：
Support platform；
At least four telescopic support components hinged with support platform；
Wherein, on the mutually corresponding precalculated position of each support component, it is respectively arranged with the fixed pulley worked in coordination, and then
Spatially it is coupled as one by an anti-rotational steel wire rope passing around respectively thereon；
The free end of anti-rotational steel wire rope is passed through an assembly pulley and then is connected with the hydraulic motor being arranged in support platform,
And
Any one group of mutually corresponding anti-skidding steel wire rope of fixed pulley is respectively arranged with to adjust the movable pulley of its moment
Group.
Preferably, each support component all includes a hydraulic stem, and the bottom of each hydraulic stem all hinged is set with it by one
A connection piece of putting and then be connected with a rotating seat；
Wherein, each rotating seat all includes：
One is mutually correspondingly arranged so that two groups of rotating mechanisms being subjected to displacement along a predetermined direction of rotating seat, arranges thereon
There are pressure sensing mechanism and video acquisition mechanism；
Coordinate with connector to realize the Universal-head of rotating seat Universal rotary；
Wherein, it is provided with the gear of a helical teeth in Universal-head, gear coupling connects to a worm screw, with the rotation to rotating seat
Angle is accurately adjusted and is controlled；
It is additionally provided with one on hydraulic stem to be matched therewith, and there is the telescoping slide assembly of insulation function；
Wherein, slide assemblies are internally provided with two bus cooperating, in two free ends of two bus
One end be connected with the power take-off mechanism of rotating mechanism, worm screw respectively, the other end is connected with electric supply installation.
Preferably, rotary extension unit includes：
One rotary unit being connected with support platform；
The multistage telescopic arm hinged with rotary unit；
Wherein, multistage telescopic arm is passed through the first amplitude oil cylinder being matched therewith and then is connected with rotary unit, to realize
Multistage telescopic arm expansion in vertical direction, is provided with the second amplitude oil cylinder being matched therewith in telescopic arms at different levels, with
Realize telescopic arms at different levels expansion in the horizontal direction, and
The a plurality of line rail being available for that its adjacent arm stretches out is provided with the madial wall of telescopic arms at different levels.
Preferably, multistage telescopic arm is arranged to Pyatyi, and
The second corresponding amplitude oil cylinder is provided with the Pyatyi arm away from rotary unit match, with to Pyatyi arm
The power take-off unit that accurately adjusted of collapsing length；
Telescopic arms at different levels are provided with mutual lap-joint and cooperate, so that it is overlapped with the vertebra shape that stability is defined
Portion；
The front end of Pyatyi arm is provided with a radar range finding sensing mechanism being connected with control terminal setting, and then realizes and five
Accurate roll adjustment between the power cleaning unit of level arm connection and face to be cleaned.
Preferably, power cleaning unit includes：
It is in spatially two groups of cleaning assemblies of adjacent distributions；
The power take-off unit of connection corresponding with each group cleaning assemblies；
In order to encapsulate the housing of described power take-off unit；
Wherein, each group cleaning assemblies is all included in the crushing mechanism being arranged side by side, cleaning agency, and then to be cleaned at one
Broken and cleaning action is completed on face simultaneously.
Preferably, cleaning mechanism all includes the contrary cleaning head of at least two direction of rotation, crushing mechanism all include to
The contrary crushing head of few two direction of rotation, and
Each cleaning head all includes an installing plate, and be arranged in the circumference of installing plate and the curved structure in section steel
Silk layer；
Each crushing head all includes a fixed installation portion, is arranged at least three scrapers in fixed installation portion circumference, with
And the drilling tool of extended described fixed installation portion place plane；
Wherein, each scraper and fixed installation portion are all configured with a predetermined angle, and drilling tool includes a drilling rod, and are in spiral shell
Rotation shape is distributed at least one screw blade on drilling rod.
A kind of method of application intelligence Qing Ku scale removal robot, including：
Control terminal controls each rotating seat on support unit to advance along predetermined direction；
When sensing that its monitoring pressure is less than a predetermined value, control terminal passes through pressure sensor device on each rotating seat
Control the working condition of the Worm wheel transmission mechanism in each rotating seat, be modified so that it is avoided not with the angle to each rotating seat
Smooth section, until it reaches specified location；
Control terminal controls the support component of support unit to slide along predetermined direction, by rotary extension unit through the library
Feed opening stretches to inside the library, and then reaches operating position；
The multistage telescopic arm of the hydraulic pressure stand control rotary extension unit of control system vertically launch 90 degree after edge again
Horizontal direction is launched step by step, and then makes power cleaning unit and the library by the radar range finding sensing mechanism on rotary extension unit
Madial wall contact；
Control system controls the working condition of power cleaning unit, and then it is dynamic to make it start cleaning along the first predetermined direction
Make；
Control system, after power cleaning unit completes a cycle cleaning action, controls rotary extension unit predetermined along second
Direction rotates a predetermined angular or along the flexible predetermined value of the first predetermined direction.
The utility model at least includes following beneficial effect：First, solving cement bunker or powder storehouse long
Storing, and cause in substantial amounts of material lagging storehouse when discharging is difficult, and the situation about being manually not easily cleaned causing, by supporting
Unit, rotary extension unit, power cleaning unit, the mate-assist of control unit, realize completing clear storehouse work by machinery equipment
Make, the mode manually carrying out cleaning operation before changing, need not be manually entered in the library and carry out any less important work, enter
And so that the unsafe factor in tradition clear storehouse work is not in, reduce the probability of operating irregularity generation it is ensured that working
Human life's property safety；And it need not stop production it is only necessary to 2-3 just can complete the operation of clear storehouse with respect to traditional manual work,
Effectively increase production efficiency, greatly save the energy.
Second, being matched with cleaning agency by the crushing mechanism of setting on power cleaning unit, long-time for dust
Delay, after the moisture in powder forms condensed water on bulkhead, reaction biochemical with achromachia and condense and form hard block
After shape thing it is possible to first be broken into one piece of little fragment of block by the crushing head in crushing mechanism to block, scraped
Remove and cleaning operation, improve production efficiency and saved the working time simultaneously.
Third, the hydraulic motor that is arranged to of its support unit controls hydraulic stem work, each hydraulic stem is predetermined simultaneously
The anti-skidding steel wire of one connection fixed pulley is all equipped with position, so the stability of supporting mechanism greatly strengthens, simultaneously its
The rising of depression bar, decrease speed all can be from main regulation.
Fourth, all hinged rotating mechanism in the lower end of each hydraulic stem of its support unit, below rotating mechanism
There is the swivel coupling of one and connector cooperation, by rotary unit is made in space to the control of swivel head shift position in rotating seat
In the range of realize 360 ° rotation so as to complete covering all around of bottom of the reservior, storehouse wall and bottom of the reservior, thus realize to descaling device
Realize precise control.
Fifth, the telescopic arm in its rotary extension unit, using the titanium-aluminium alloy one cast molding of high intensity, instead of
The high-abrasive materials such as traditional Teflon are formed by welding the form of multi-stage expansion wall, have that rigidity is strong, light weight and a seamlessness, stable
Property is good, simultaneously because wired rail is set in telescopic arm, so the frictional force that greatly reducing telescopic arm telescopic process is excessive
Problem, thus realize low power drive and easily controllable.
Sixth, it due to the Pyatyi arm front end in rotary extension unit, is provided with one being connected with exterior terminal setting
Radar range finding sensing mechanism, thus present segment and storehouse wall close together when, precise control and positioning can be carried out to front end, from
And realize stability and the completeness of cleaning.
Part is embodied by further advantage of the present utility model, target and feature by description below, and part also will be passed through
Research of the present utility model and practice are understood by the person skilled in the art.
Brief description
Fig. 1 is the overall structure diagram of the utility model intelligence Qing Ku scale removal robot；
Fig. 2 is the status architecture schematic diagram that do not stretch of support unit of the utility model intelligence Qing Ku scale removal robot；
Fig. 3 is the utility model intelligence support unit of Qing Ku scale removal robot status architecture schematic diagram when launching；
Fig. 4 is the status architecture schematic diagram of hydraulic stem in the support unit of the utility model intelligence Qing Ku scale removal robot；
Fig. 6 is the structural representation of running block in the support unit of the utility model intelligence Qing Ku scale removal robot；
Fig. 7 be the utility model intelligence Qing Ku scale removal robot support unit integrally fully deployed when structural representation
Figure；
Fig. 8 be the utility model intelligence Qing Ku scale removal robot rotary extension unit partly stretch into the library feeding mouth when
Status architecture schematic diagram；
Fig. 9 is the knot after the expansion of telescopic unit in the rotary extension unit of the utility model intelligence Qing Ku scale removal robot
Structure schematic diagram；
Figure 10 is a work shape of telescopic unit in the rotary extension unit of the utility model intelligence Qing Ku scale removal robot
State structural representation；
Figure 11 is another work of telescopic unit in the rotary extension unit of the utility model intelligence Qing Ku scale removal robot
Status architecture schematic diagram；
Figure 12 is the front view of the power cleaning unit in the utility model intelligence Qing Ku scale removal robot；
Figure 13 is the side view of the power cleaning unit in the utility model intelligence Qing Ku scale removal robot
Figure 14 is the connection diagram of telescopic arm lap-joints at different levels in rotary extension unit of the present utility model；
Figure 15 is the power take-off mechanism structural representation of Pyatyi arm in rotary extension unit of the present utility model.
Specific embodiment
Below in conjunction with the accompanying drawings the utility model is described in further detail, to make those skilled in the art with reference to explanation
Book word can be implemented according to this.
It should be appreciated that used herein such as " have ", "comprising" and " inclusion " term do not allot one or many
The presence of individual other element or a combination thereof or interpolation.
Fig. 1 shows according to a kind of way of realization of intelligent Qing Ku scale removal robot of the present utility model, intelligent scale-removing machine
Device people's device main assembly mechanism：By hydraulic pressure placement platform+hydraulic control station+distribution box+machinery rotation arm+mechanical-stretching arm
(Pyatyi hydraulic arm composition)+power scale removal head forms, including：
Can be stretched the support unit 1 sliding along predetermined direction；
Rotary extension unit 2 is connected with the support platform of support unit, it is used under the supporting role power of support unit,
By the feeding mouth 5 of the library；
The free end of rotary extension unit is connected with one and can be subjected to displacement along predetermined direction, and then completes the dynamic of cleaning action
Power cleaning unit 3；
Wherein, support unit, rotary extension unit, power cleaning unit are all communicatively connected to a control terminal 4.It is used for
Mutually solve cement bunker or powder storehouse in long storing, and cause in substantial amounts of material lagging storehouse when discharging is difficult,
And the situation about being manually not easily cleaned causing, by support unit, rotary extension unit, power cleaning unit, control unit
Mate-assist, realizes completing the work of clear storehouse by machinery equipment, changes the former mode manually carrying out cleaning operation, need not
It is manually entered in the library and carry out any less important work, and then so that the unsafe factor in tradition clear storehouse work is not in,
The probability reducing operating irregularity generation is it is ensured that staff's security of the lives and property；And with respect to traditional manual work its
Need not stop production it is only necessary to 2-3 just can complete the operation of clear storehouse, effectively increase production efficiency, greatly save the energy and adopted this
The scheme of kind has by the working method of traditional artificial scale removal, carries out the working method of clear storehouse scale removal to Based Intelligent Control machine people
Change, improve production efficiency while reducing security incident rate, saved the benefit of time, energy saving.And,
This mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As shown in figure 1, in another kind of example, control terminal 4 includes：
One distribution box 40；
The Hydraulic Station 41 being connected with support unit, rotary extension unit respectively；
Control system 42 with the communication connection of support unit, rotary extension unit and power cleaning unit respectively.It is used
In integrating all of control, it is easy to management and control and enforcement, had by terminal-pair unit using this scheme
Control and coordinate, realize 360 ° in cleaning unit spatial dimension in storehouse of rotation so as to complete bottom of the reservior, storehouse wall and bottom of the reservior
Cover all around the benefit that accurate and stable state carries out scale removal cleaning work.And, this mode be one kind relatively
The explanation of good example, but be not limited thereto.
As shown in fig. 7, in another kind of example, power cleaning unit 3 is by being arranged on Telescopic rotating unit lateral wall
Multiple fixed pulley groups 6 so that be connected with carrying means.Had using this scheme and so that power cleaning unit is being risen, decline
And during in rotary moving, reduce the friction between bracing wire and Telescopic rotating unit, improve operating efficiency and reduce consumption
The benefit of energy.And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As illustrated in figs. 2-7, in another kind of example, support unit 1 includes：
Support platform 110, it is used for fixing by screw 111 and carrying to stretch into the actuating unit within the library, its
Using 1 meter of square plate structure, fixing and supporting machinery device and connection hydraulic control device act on, and hydraulic platform plays support machinery dress
Put the effect of then oppositely positioned device and cement bunker mouth, flexible by its hydraulic means makes mechanical manipulator by cement bunker
Top charging aperture enters；
At least four telescopic support components 120 hinged with support platform, it makes it highly can as needed may be used
Adjustment, and then make its actuating unit after entering in the library, its working condition can be arranged to the plane phase being located with feeding mouth
Cleaning action in cooperation, and then the library of adaptation differing heights, the restriction of its height simultaneously, also so that stretching into the power of the library
The length of mechanism can proper extension, to adapt to the clear storehouse needs of different the library height；
Wherein, on the mutually corresponding precalculated position of each support component, it is respectively arranged with the fixed pulley 126 worked in coordination and leads to
Cross an anti-rotational steel wire rope 150 passing around respectively thereon to be spatially coupled as one, it passes through around being located on fixed pulley
Steel wire rope allows its stability to be further guaranteed, and then guarantees being smoothed out of clear storehouse work；
The free end of anti-rotational steel wire rope pass through an assembly pulley (not shown) so that with the hydraulic pressure being arranged in support platform
Motor 130 connects, and it is used for being supplied to steel wire rope one pulling force, so can adapt to different operating environment use needs, and
Any one group of mutually corresponding anti-skidding steel wire rope of fixed pulley is respectively arranged with to adjust the movable pulley of its moment
Group 140, it is used for the required moment in running of steel wire rope is adjusted, and then increase supporting mechanism is being moved through
Stability in journey.Using this scheme, on the one hand this system mainly utilizes stay wire sensor and proportioning valve, using fluid as work
Medium, rises by hydraulic pressure, declines by gravity, controls flow to control the speed of its raising and lowering by choke valve and reversal valve
And position.
Second aspect：By the assembly pulley of installation and steel wire rope group on hydraulic stem, external impetus output mechanism gives one
Tension and the action loosened, give one ponderomotive force of hydraulic stem and resistance, thus realize whole device and steadily declining and rise；
And then make two groups of device cooperating syringe, by computing and setting, give system controlling value, so that whole device is reached
Default requirement, has during apparatus for eliminating sludge carries out scale removal work in storehouse, when this support system improves its support
Stability and do not move when hydraulic stem, realize pressurize when whole device remains static and balance without producing your writing
Benefit firmly.And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As illustrated in figs. 2-7, in another kind of example, each support component all includes a hydraulic stem 121, and it passes through single-acting
Hydraulic cylinder+Hydraulic Station composition hydraulic control controls, and
Each hydraulic stem all includes：
One cylinder barrel 121 (a)；
The piston rod 121 (b) matching with cylinder barrel；
Wherein, cylinder barrel upper end is provided with an oil-in 121 (c), and lower end is provided with an oil-out 121 (d), with inside it
In the presence of oil pressure, piston rod is released to predetermined direction and withdraw；
The bottom that the free end of piston rod is provided with each hydraulic stem of mounting flange 121 (e) matching with connector is equal
It is connected with a connection piece 122 of its hinged setting and then with a rotating seat 123 by one；
Wherein, each rotating seat all includes：
One is mutually correspondingly arranged so that two groups of rotating mechanisms 124 being subjected to displacement along a predetermined direction of rotating seat, its use
In the possibility providing each rotating seat one can carry out along predetermined direction；It is provided with pressure sensing mechanism (not shown) and video
Collecting mechanism 125, it is used for different traffic informations are obtained, and then realizes the adjustment of its street corner degree by control terminal,
Rotating seat can be a rotating cart, act primarily as support and drive hydraulic stem traffic direction, 4 dollies are along direction initialization towards 4
Different directions run, using unpowered self-operating structure.Driving force comes from top hydraulic means hydraulic stem and gives；
Coordinate with connector to realize the Universal-head (not shown) of rotating seat Universal rotary, it makes the rotating seat can be to any
Advanced or rotated to change its advancing angle in direction；
Wherein, it is provided with the gear (not shown) of a helical teeth in Universal-head, gear coupling connects to a worm screw (not shown),
Accurately to be adjusted to the anglec of rotation of rotating seat and to be controlled, rotating mechanism and worm screw respectively with being arranged in rotating seat
One servomotor (not shown), the second servomotor (not shown) power connector, the introducing of worm screw can be to the rotation of Universal-head
Turn direction accurately to be braked, and then make it when voluntarily going to specified location, can constantly revise its angle, referred to reaching
Fixed position.Had using this scheme and be capable of the mobile precise control to supporting construction, thus realizing to apparatus for eliminating sludge
Station is specified to carry out precise control reaching；
It is additionally provided with one on hydraulic stem to be matched therewith, and there is the telescoping slide assembly (not shown) of insulation function,
While its role is to the electric power of each motor on rotating seat is conducted, prevent that the leakage of its electric power from causing is dangerous
Factor, to adapt it to the electric power conduction in hydraulic stem retracted position；
Wherein, slide assemblies are internally provided with the two bus (not shown) cooperating, and it is used in slide assemblies
Interior realization conducts to motor, one end power with rotating mechanism, worm screw respectively in two free ends of two bus
Output mechanism (not shown) connects, and the other end is connected with electric supply installation (not shown).Being had using this scheme makes support meanss
Rotatable movement, by the precise control to supporting construction movement, thus when realizing apparatus for eliminating sludge is operated in the wall of storehouse
Position carry out precise control, and this bus disclosure satisfy that long to conductive material when rising with support component, declining
The demand of degree is it is ensured that it is in the benefit of conduction state when entirely moving up and down.And, this mode be one kind relatively
The explanation of good example, but be not limited thereto.
As illustrated in figs. 8-11, in another kind of example, rotary extension unit 2 includes：
The rotary unit 210 that one is connected with support platform, it is used for carrying out precise control to the position of multistage telescopic arm, with
Adapt it to the omnibearing cleaning action of the library, it includes an assembly 211 matching with support platform；
Turning arm 212；
It is arranged between described turning arm and assembly, the swivel coupling 213 being controlled with the direction of rotation to turning arm,
To achieve 360 ° in its storehouse rotations, to complete the gamut on bottom of the reservior, storehouse wall and storehouse top is covered；
The multistage telescopic arm 220 hinged with rotary unit, it is used for making it adjustable with the distance of storehouse body sidewall, and then adapts to
Cleaning within different size the library, and telescopic arm at different levels be both configured to using titanium-aluminium alloy casting be integrally formed, with
There is light weight, intensity is high, integrally casting does not have gap, enhances the stability of telescopic arm；
Wherein, multistage telescopic arm is passed through the first amplitude oil cylinder 230 being matched therewith and then is connected with rotary unit, with reality
Existing multistage telescopic arm expansion in vertical direction, is provided with the second amplitude oil cylinder being matched therewith in telescopic arms at different levels
(not shown), to realize telescopic arms at different levels expansion in the horizontal direction, and
It is provided with the madial wall of telescopic arms at different levels and be available for a plurality of line rail (not shown) that its adjacent arm stretches out it is used for
Assist telescopic arms at different levels to be socketed main body from it to stretch out, so effectively decrease its coefficient of friction so as to needs when stretching out
Power less, thus its required power can be reduced to 5.5 kilowatts by 11-15 kilowatt.Had this using this scheme
Scheme has the movement enabling whole system to complete on level and vertical direction, increased the scope of working region, and
Reduce the friction in telescopic process by the line rail being arranged between each telescopic arm, and then lower power output, energy saving
Benefit.And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As described in Fig. 8,14-15, in another kind of example, multistage telescopic arm is arranged to Pyatyi, and
The second corresponding amplitude oil cylinder is provided with the Pyatyi arm 221 away from rotary unit match, with to five
The power take-off unit 222 that accurately adjusted of collapsing length of level arm its, include one and exterior terminal wireless communication connection
Servomotor 224；
And the lead screw transmission mechanism 225 being connected with the power output shaft of servomotor.Making is had using this scheme
Structure is simple, convenient operation；
Telescopic arms at different levels are provided with mutual lap-joint and cooperate, so that it is overlapped with the vertebra shape that stability is defined
Portion 223, it has makes each telescopic arm be capable of clamping in its junction, thus strengthening its job stability；
The front end of Pyatyi arm is provided with a radar range finding sensing mechanism (not shown) being connected with control terminal setting, and then
Realize the accurate roll adjustment between the power cleaning unit that is connected with Pyatyi arm and face to be cleaned.Had when cleaning using this scheme
Device and storehouse wall close together when, precise control can adjust the distance between cleaning head and storehouse wall thus realizing cleaning process
Stability benefit.And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As illustrated by figs. 12-13, in another kind of example, power cleaning unit 3 includes：
It is in spatially two groups of cleaning assemblies 310 of adjacent distributions, it is used for adapting to madial wall and the bottom of the library respectively
Cleaning so that it enables the cleaning to full storehouse, reduce labour intensity；
The power take-off unit 320 of connection corresponding with each group cleaning assemblies, it is used for and is matched with cleaning assemblies respectively,
To be controlled to its working condition according to different operating modes, and then there is more preferable adaptability；
In order to encapsulate the housing 330 of described power take-off unit, its in provide power take-off unit one installation portion, with coordinate
It completes power provides, and it is protected, the physical hazard preventing material at work from it is caused, and housing also sets
It is equipped with lighting mechanism 331, video acquisition mechanism 332 and radar range finding sensing mechanism 333, video acquisition mechanism, radar range finding pass
Sense mechanism is all connected with outside control terminal.The operation of video acquisition mechanism is assisted by lighting mechanism using this scheme, with
Improve video acquisition quality, and radar range finding sensing mechanism enables cleaning head to remain at certain working range with storehouse wall
Interior, and then lift cleaning effect；
Wherein, each group cleaning assemblies is all included in the crushing mechanism 311 being arranged side by side, cleaning agency 312, and then at one
Broken and cleaning action is completed on face to be cleaned simultaneously.Cement bunker or powder storehouse are solved long using this scheme
When storing and discharging are difficult, in a large amount of material lagging storehouses causing, and situation about being manually not easily cleaned, simultaneously because dust is long
The delay of time, so after the moisture in powder forms condensed water on bulkhead, reaction biochemical with achromachia and condense formation
Hard block, and be difficult to carry out the operating mode of crushing and clearing, has strong adaptability, can implementation result good, workable have
In place of profit.And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
As illustrated by figs. 12-13, in another kind of example, cleaning mechanism all includes the contrary cleaning of at least two direction of rotation
313, it is used for matching with crushing head, is removed further with completing the relatively low residue of hardness, more excellent to guarantee
Elimination effect, crushing mechanism all includes the contrary crushing head of at least two direction of rotation 314, and it is by contrary direction of rotation
Setting, can be by the effect cancelled out each other of power so as to during spatial movement, holding stability, and
Each cleaning head all includes an installing plate 315, and is arranged in the circumference of installing plate and the curved structure in section
Steel wire floor 316；
Each crushing head all includes a fixed installation portion 317, and it is used for fixation and scraper is fixed, simultaneously by engine
The power of structure output passes to scraper, completes scraper action, is arranged at least three scrapers 318 in fixed installation portion circumference,
It is in order to striking off to harder block, and the drilling tool 319 of extended described fixed installation portion place plane, and it is used for
According to different operating modes, degree of crushing is treated with a certain discrimination, using drilling tool crushed higher to hardness is matched with striking off, with
Make its cleaning effect more preferably；
Wherein, each scraper and fixed installation portion are all configured with a predetermined angle, and it is used for mitigating rotating force, with
When the dust striking off can be made can to depart from from the gap between scraper, operate beneficial to further, drilling tool includes a drilling rod 319
(a), and it is distributed at least one the screw blade (not shown) on drilling rod in the shape of a spiral, it is more conducive to drill through, and beneficial to row
Bits.The order enabling cleaning mechanism continuously to send according to control system is had using this scheme, is cleaned and breaks
Broken action, the high intensity block so as to the dust being trapped in storehouse is reacted with condensed water and formed crushes,
Solid ash is carried out cleaning make scale removal process more thoroughly with easily benefit.And, this mode is a kind of preferable
The explanation of example, but be not limited thereto.
A kind of method of application intelligence Qing Ku scale removal robot：Including：
Control terminal controls each rotating seat on support unit to advance along predetermined direction；
When sensing that its monitoring pressure is less than a predetermined value, control terminal passes through pressure sensor device on each rotating seat
Control the working condition of the Worm wheel transmission mechanism in each rotating seat, be modified so that it is avoided not with the angle to each rotating seat
Smooth section, until it reaches specified location；
Control terminal controls the support component of support unit to slide along predetermined direction, by rotary extension unit through the library
Feed opening stretches to inside the library, and then reaches operating position；
The multistage telescopic arm of the hydraulic pressure stand control rotary extension unit of control system vertically launch 90 degree after edge again
Horizontal direction is launched step by step, and then makes power cleaning unit and the library by the radar range finding sensing mechanism on rotary extension unit
Madial wall contact；
Control system controls the working condition of power cleaning unit, and then it is dynamic to make it start cleaning along the first predetermined direction
Make；
Control system, after power cleaning unit completes a cycle cleaning action, controls rotary extension unit predetermined along second
Direction rotates a predetermined angular or along the flexible predetermined value of the first predetermined direction.Had in control system with right using this scheme
Under the commander of unit, cleaning unit is entered under the cooperation of rotary unit and telescopic unit accurate warehouse-in from Ku Kou
It is cleaned the benefit that can automatically around barrier continually and steadily be worked with fragmentation procedure and when running into barrier.
And, this mode is a kind of explanation of preferred embodiments, but is not limited thereto.
In specific implementation process, power cleaning unit is by serving the control of motor+rectangle fixed frame+cleaning brush+sensing
Device equipment composition processed；Its operation principle and explanation：Above unit head, induction controller detecting head is installed, it is made by electrical control
Cement bunker situation (be detained storehouse in form and thickness) can be transferred to control system, thus control unit head run time with strong
Degree.In the adjacent face of rectangle frame, four servomotors, one cleaning brush of motor independent control are installed, electricity is made by control system
Machine is pressed direction initialization and is run.The motor inverted running of the same face, reaches cleaning more comprehensively, cleaning effect is more preferable.Cleaning brush is put down
The cleaning storehouse wall paralleled with cement bunker wall in face, below the cleaning brush cleaning storehouse of lower section.
Its specific operation principle and step explanation：
1st, equipment enters storehouse and prepares
Cement bunker general requirements height 40m, bore 20m about, upper stage has a feed opening, the general 800mm of bore
× 800mm, intelligent scale-removing robot passes through hydraulic means platform and enters inside cement bunker from this mouth.
2nd, pass through the reverse hydraulic operation of hydraulic platform hydraulic stem, make the smooth-going of whole mechanism enter cement bunker, reach working position
Postpone, stretched by Hydraulic Station control machinery telescopic arm, become 90 degree (see accompanying drawing 7-8) with machinery rotation arm
3rd, after reaching operating position, stretched by Hydraulic Station control machinery telescopic arm, become 90 degree with machinery rotation arm (see attached
Fig. 7)
4th, after mechanical-stretching arm is opened, arm starts to stretch out step by step.(see accompanying drawing 9)
5th, detections of radar is passed through with a distance from the wall of storehouse in mechanical-stretching arm front end.(see accompanying drawing 10)
6th, after reaching precalculated position, the cleaning head motor on electrical control unit head rotates, scale removal unit head leading portion
Cleaning head is started working, along storehouse Bi Youku top to clean-up operation (see accompanying drawing 11)
7th, 15 ° of unit heads of the anglec of rotation pump machinery rotation arm again vertically, cleaning storehouse wall mechanical device
Repeat 5. 6. to run, totally 360 ° of revoliving arm corner, until wall cleaning in storehouse completes.
The utility model is related to a kind of intellectuality cement bunker clear storehouse descalling technique, and equipment is installed on cement bunker its top feed
Mouthful, full-automatic one operates, and is fully solved clear storehouse potential safety hazard, has reached the demand in the clear storehouse of scale removal, improves the clear storehouse of scale removal
Operating efficiency and clearance time, greatly saved the energy, water conservancy, nuclear power, the energy, chemical field can have been covered.It reaches
Have the beneficial effects that, the utility model is directed to that existing cement bunker clear storehouse technical difficulty is big, and efficiency is low, and cleaning effect is poor, and
There is the defect of very big personal security hidden danger, and then adopt intelligent integral equipment, intelligent scale-removing robot is fully solved clearly
Storehouse potential safety hazard, has reached the demand in the clear storehouse of scale removal.Improve operating efficiency and the clearance time in the clear storehouse of scale removal, greatly save
The about energy.
Intelligent scale-removing robot is automatically to be operated by predetermined program or instruction in the case of unmanned the intervention or control
The process of system, the realization of its automation leads clear for scale removal storehouse to a new mode, by automatic control system, really reaches
Arrive full-automatic operation mode, therefore had the effect that：
First, safety, improve the safety guarantee of personnel, enter to put in storage interior so that it may cleaning operation is simple without staff；
Second, with compressed air as driving force it is only necessary to 1-2 people operates outside storehouse completes high efficiency, the time is short；
Third, using clear library facilities, the off-time greatly shortens and greatlys save cost, is that enterprise brings bigger benefit.
Number of devices described herein and treatment scale are used to simplify explanation of the present utility model.To the utility model
The application of intelligent Qing Ku scale removal robot, modifications and variations will be readily apparent to persons skilled in the art.
Although embodiment of the present utility model is disclosed as above, it is not restricted in specification and embodiment
Listed utilization.It can be applied to various suitable fields of the present utility model completely.For those skilled in the art,
It is easily achieved other modification.Therefore under the universal being limited without departing substantially from claim and equivalency range, this reality
It is not limited to specific details with new and shown here as the legend with description.
Claims (9)
1. a kind of intelligent Qing Ku scale removal robot is it is characterised in that include：
Can be stretched the support unit sliding along predetermined direction；
Rotary extension unit is connected with the support platform of described support unit；
The free end of described rotary extension unit is connected with one and can be subjected to displacement along predetermined direction, and then completes the dynamic of cleaning action
Power cleaning unit；
Wherein, described support unit, rotary extension unit, power cleaning unit are all communicatively connected to a control terminal.
2. intelligent Qing Ku scale removal robot as claimed in claim 1 is it is characterised in that described control terminal includes：One distribution
Case；
The Hydraulic Station being connected with described support unit, rotary extension unit respectively；
Control system with the communication connection of described support unit, rotary extension unit and power cleaning unit respectively.
3. intelligent Qing Ku scale removal robot as claimed in claim 1 is it is characterised in that described power cleaning unit passes through setting
Multiple fixed pulley groups on Telescopic rotating unit lateral wall and then be connected with carrying means.
4. intelligent Qing Ku scale removal robot as claimed in claim 1 is it is characterised in that described support unit includes：Support flat
Platform；
At least four telescopic support components hinged with support platform；
Wherein, on the mutually corresponding precalculated position of each described support component, it is respectively arranged with the fixed pulley worked in coordination, and then
Spatially it is coupled as one by an anti-rotational steel wire rope passing around respectively thereon；
The free end of described anti-rotational steel wire rope is passed through an assembly pulley and then is connected with the hydraulic motor being arranged in support platform,
And
Any one group of mutually corresponding anti-skidding steel wire rope of described fixed pulley is respectively arranged with to adjust the movable pulley of its moment
Group.
5. intelligent Qing Ku scale removal robot as claimed in claim 4 is it is characterised in that each described support component all includes one
Hydraulic stem, the bottom of each hydraulic stem is all connected with a connection piece of its hinged setting and then with a rotating seat by one；
Wherein, each described rotating seat all includes：
One is mutually correspondingly arranged so that two groups of rotating mechanisms being subjected to displacement along a predetermined direction of rotating seat, is provided with pressure
Power sensing mechanism and video acquisition mechanism；
Coordinate with described connector to realize the Universal-head of rotating seat Universal rotary；
Wherein, it is provided with the gear of a helical teeth in described Universal-head, described gear coupling connects to a worm screw, with to rotating seat
The anglec of rotation is accurately adjusted and is controlled；
It is additionally provided with one on described hydraulic stem to be matched therewith, and there is the telescoping slide assembly of insulation function；
Wherein, described slide assemblies are internally provided with two bus cooperating, two freedom of described two bus
One end in end is connected with the power take-off mechanism of rotating mechanism, worm screw respectively, and the other end is connected with electric supply installation.
6. intelligent Qing Ku scale removal robot as claimed in claim 1 is it is characterised in that described rotary extension unit includes：
One rotary unit being connected with support platform；
The multistage telescopic arm hinged with described rotary unit；
Wherein, described multistage telescopic arm is passed through the first amplitude oil cylinder being matched therewith and then is connected with rotary unit, to realize
Multistage telescopic arm expansion in vertical direction, is provided with the second luffing oil being matched therewith in described telescopic arms at different levels
Cylinder, to realize telescopic arms at different levels expansion in the horizontal direction, and
The a plurality of line rail being available for that its adjacent arm stretches out is provided with the madial wall of described telescopic arms at different levels.
7. intelligent Qing Ku scale removal robot as claimed in claim 6 is it is characterised in that described multistage telescopic arm is arranged to five
Level, and
The second corresponding amplitude oil cylinder is provided with the Pyatyi arm away from rotary unit match, to stretch to Pyatyi arm
The power take-off unit that contracting length is accurately adjusted；
Described telescopic arms at different levels are provided with mutual lap-joint and cooperate, so that it is overlapped with the vertebra shape that stability is defined
Portion；
The front end of described Pyatyi arm is provided with a radar range finding sensing mechanism being connected with control terminal setting, and then realizes and five
Accurate roll adjustment between the power cleaning unit of level arm connection and face to be cleaned.
8. intelligent Qing Ku scale removal robot as claimed in claim 1 is it is characterised in that described power cleaning unit includes：
It is in spatially two groups of cleaning assemblies of adjacent distributions；
The power take-off unit of connection corresponding with described each group cleaning assemblies；
In order to encapsulate the housing of described power take-off unit；
Wherein, cleaning assemblies described in each group is all included in the crushing mechanism being arranged side by side, cleaning agency, and then to be cleaned at one
Broken and cleaning action is completed on face simultaneously.
9. intelligent Qing Ku scale removal robot as claimed in claim 8 is it is characterised in that described cleaning mechanism all includes at least two
The contrary cleaning head of individual direction of rotation, described crushing mechanism all includes the contrary crushing head of at least two direction of rotation, and
Each described cleaning head all includes an installing plate, and is arranged in the circumference of described installing plate and the curved structure in section
Steel wire floor；
Each described crushing head all includes a fixed installation portion, is arranged at least three scrapers in fixed installation portion circumference, with
And the drilling tool of extended described fixed installation portion place plane；
Wherein, described each scraper and fixed installation portion are all configured with a predetermined angle, and described drilling tool includes a drilling rod, and
It is distributed at least one screw blade on drilling rod in the shape of a spiral.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620960587.5U CN205928685U (en) | 2016-08-26 | 2016-08-26 | Clear storehouse scale removal robot of intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620960587.5U CN205928685U (en) | 2016-08-26 | 2016-08-26 | Clear storehouse scale removal robot of intelligence |
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| CN205928685U true CN205928685U (en) | 2017-02-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142103A (en) * | 2016-08-26 | 2016-11-23 | 绵阳钢猫科技有限公司 | Intelligence Qing Ku scale removal robot |
| CN107511851A (en) * | 2017-10-17 | 2017-12-26 | 董杰 | A kind of lowering or hoisting gear of industry mechanical arm |
| CN111137704A (en) * | 2019-12-31 | 2020-05-12 | 绵阳钢猫科技有限公司 | A clear storehouse of intelligence storehouse wall machine for cement storehouse |
| CN111332830A (en) * | 2020-04-09 | 2020-06-26 | 宜宾钢猫科技有限公司 | Cement warehouse cleaning device and method |
| CN119460803A (en) * | 2024-12-30 | 2025-02-18 | 福建省中瑞装备制造科技有限公司 | Cement warehouse clearing machine and cement warehouse clearing equipment |
-
2016
- 2016-08-26 CN CN201620960587.5U patent/CN205928685U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142103A (en) * | 2016-08-26 | 2016-11-23 | 绵阳钢猫科技有限公司 | Intelligence Qing Ku scale removal robot |
| CN106142103B (en) * | 2016-08-26 | 2018-08-03 | 绵阳钢猫科技有限公司 | Intelligent Qing Ku scale removal robot |
| CN107511851A (en) * | 2017-10-17 | 2017-12-26 | 董杰 | A kind of lowering or hoisting gear of industry mechanical arm |
| CN111137704A (en) * | 2019-12-31 | 2020-05-12 | 绵阳钢猫科技有限公司 | A clear storehouse of intelligence storehouse wall machine for cement storehouse |
| CN111332830A (en) * | 2020-04-09 | 2020-06-26 | 宜宾钢猫科技有限公司 | Cement warehouse cleaning device and method |
| CN119460803A (en) * | 2024-12-30 | 2025-02-18 | 福建省中瑞装备制造科技有限公司 | Cement warehouse clearing machine and cement warehouse clearing equipment |
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