CN215789898U - Automatic control ash cleaning robot for silo of cement silo - Google Patents
Automatic control ash cleaning robot for silo of cement silo Download PDFInfo
- Publication number
- CN215789898U CN215789898U CN202121820747.3U CN202121820747U CN215789898U CN 215789898 U CN215789898 U CN 215789898U CN 202121820747 U CN202121820747 U CN 202121820747U CN 215789898 U CN215789898 U CN 215789898U
- Authority
- CN
- China
- Prior art keywords
- silo
- arm
- supporting
- automatic control
- cement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses an automatic control dust cleaning robot for a silo of a cement silo, which comprises a hoisting mechanism, a supporting arm mechanism, a working arm mechanism and a dust cleaning mechanism, wherein the hoisting mechanism is positioned at the top of the silo; the hoisting mechanism can drive the supporting mechanism to move up and down and can drive the supporting arm mechanism to rotate from a vertical state to a horizontal state; the support mechanism drives the working arm mechanism to rotate, so that the ash cleaning mechanism is driven to clean the inner wall of the silo of the cement silo. The utility model has high ash removal efficiency, is safe and reliable, does not damage the cylinder wall, is suitable for cleaning accumulated materials in various warehouses similar to silo structures of cement warehouses, and solves the safety problem of manual cleaning.
Description
Technical Field
The utility model belongs to the technical field of cement cleaning equipment, and particularly relates to an automatic control ash cleaning robot for a silo of a cement silo.
Background
The cement warehouse is one of basic facilities of cement production enterprises, powder in the warehouse is easy to adhere to the inner wall and accumulate at the bottom of the warehouse due to various factors, so that the storage capacity is reduced, the discharging is not smooth, even the discharging cannot be carried out, and the warehouse cleaning operation must be regularly carried out to ensure the system production of the enterprises. The domestic enterprises mainly adopt a manual method for clearing the warehouse, but the manual clearing difficulty is high, the time consumption is long, the cost is high, and the workers still have major risk factors such as falling objects at high altitude, collapse, burying, treading empty at the bottom and the like, so that the life safety of warehouse clearing workers is endangered all the time. The operation of cleaning the cement warehouse has become the first killer in accidents of cement safety production at present, and the best method is to develop intelligent control mechanical equipment to replace manual operation in order to thoroughly avoid the accidents.
The existing cement warehouse cleaning robot adopts warehouse cleaning executing elements which are hard components such as rotary tool bits, iron chains, brushes and the like, and cuts and breaks materials adhered to the warehouse wall, so that the ash cleaning effect is achieved. For example, patent publication No. CN 103963054 a discloses a robot moving by suspension, the end of which uses a hard brush, and the disadvantages are: on one hand, the tail end execution element of the device inevitably contacts with the concrete reservoir wall in the working process, and causes fine damage to the reservoir wall; on the other hand, the end executing element in direct contact is often too small in cleaning area, low in working efficiency and incapable of quickly cleaning the warehouse.
SUMMERY OF THE UTILITY MODEL
The utility model mainly solves the technical problem of providing an automatic control ash cleaning robot for a silo of a cement silo, which can carry out omnibearing cleaning on the silo without any dead angle, and has large cleaning area and high efficiency.
In order to solve the technical problems, the utility model adopts a technical scheme that: an automatic control dust cleaning robot for a silo of a cement silo comprises a hoisting mechanism, a supporting arm mechanism, a working arm mechanism and a dust cleaning mechanism, wherein the hoisting mechanism is positioned at the top of the silo, the supporting mechanism is respectively connected with the supporting arm mechanism and the working arm mechanism, and the dust cleaning mechanism is positioned at the tail end of the working arm mechanism;
the hoisting mechanism can drive the supporting mechanism to move up and down and can drive the supporting arm mechanism to rotate from a vertical state to a horizontal state;
the support mechanism drives the working arm mechanism to rotate, so that the ash cleaning mechanism is driven to clean the inner wall of the silo of the cement silo.
The utility model adopts a further technical scheme for solving the technical problems that:
furthermore, the hoisting mechanism comprises a suspension steel cable, at least one guide steel cable, a first winding drum for winding the suspension steel cable, a second winding drum for winding the guide steel cable, a lifting motor A for driving the first winding drum to be wound and unwound, and a lifting motor B for driving the second winding drum to be wound and unwound.
The supporting mechanism comprises a vertical rod, a supporting base, a rotating joint and an amplitude-variable push rod, wherein the upper end of the vertical rod is connected with the suspension steel cable, the lower end of the vertical rod is connected with the supporting base, the rotating joint is connected with the supporting base, one end of the amplitude-variable push rod is hinged with the rotating joint, and the other end of the amplitude-variable push rod is hinged with the working arm mechanism.
Further, the support arm mechanism comprises at least one support arm, and one end of the guide steel cable is connected with the support arm.
The dust cleaning mechanism comprises a gas storage tank, a metal hose and a tail end injection pipe, wherein one end of the metal hose is communicated with the gas storage tank, the other end of the metal hose is communicated with the tail end injection pipe, and a spray head is installed on the tail end injection pipe.
Furthermore, the working arm mechanism comprises a working arm and a weight box, the working arm is connected with the rotating joint, the metal hose is wound on the working arm, and the weight box is positioned in the opposite direction of the spray head.
Furthermore, the supporting arm adopts a four-section direct-pushing type electric cylinder and comprises a first section arm, a second section arm, a third section arm and a fourth section arm, and a rubber cushion is installed at the tail end of the fourth section arm.
Furthermore, a guide wheel is arranged on the side surface of the upright rod, and one end of the guide steel cable is connected with the supporting arm by bypassing the guide wheel.
Further, at least one camera is installed on the supporting base.
The utility model has the following beneficial effects:
1. the robot comprises five major parts, namely a hoisting mechanism, a supporting arm mechanism, a working arm mechanism and an ash removal mechanism, wherein the hoisting mechanism drops the rear four parts (in a contracted state) into a silo from an opening at the top of the silo through a hanging steel cable, releases the steel cable to enable the steel cable to reach the cleaning height, expands and extends the supporting arm of the robot until the supporting arm is tightly supported with the wall of the silo, and enables the robot to be in a stable state through the reaction of the wall of the silo and the supporting structure;
2. the ash cleaning mechanism adopts an air ash blowing method, a working arm of a robot is unfolded and extended, a tail end injection pipe is conveyed to a cleaning position aligned with hardened materials, high-pressure gas is released, and strong shock waves are generated to knock the hardened materials off from the inner wall.
Drawings
FIG. 1 is one of the schematic structural views of the present invention in an operating state;
FIG. 2 is a second schematic structural diagram of the present invention in an operating state;
FIG. 3 is a schematic structural view of the present invention when not in operation;
FIG. 4 is a schematic structural view of the hoisting mechanism of the present invention;
FIG. 5 is a schematic view of a support arm of the present invention in an operative position;
FIG. 6 is a schematic view of the present invention in an operative position;
the parts in the drawings are marked as follows:
the hoisting mechanism (1) is provided with a hoisting mechanism,
a first winding drum 11, a second winding drum 12, a suspension steel cable 13, a guide steel cable 14, a lifting motor A15 and a lifting motor B16;
the support mechanism (2) is provided with a support mechanism,
the device comprises a vertical rod 21, a first pin shaft 22, a supporting base 23, a guide wheel 24, a central shaft cylinder 25, a rotary joint 26, an amplitude variation push rod 27 and a second pin shaft 28;
a support arm mechanism 3 for supporting the arm mechanism,
a first arm 31, a second arm 32, a third arm 33, a fourth arm 34, and a rubber cushion 35;
the working arm mechanism (4) is provided with a working arm mechanism,
a first link 41, a second link 42, a third link 43, and a weight box 44;
the ash-cleaning mechanism 5 is arranged on the upper part of the ash-cleaning mechanism,
a terminal injection pipe 51, a metal hose 52, and a nozzle 53;
the silo (6) is provided with a plurality of silos,
camera a, camera b, camera c.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the utility model easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the utility model.
Example (b): an automatic control ash cleaning robot for a silo of a cement silo is shown in figures 1-6 and comprises a hoisting mechanism 1, a supporting mechanism 2, a supporting arm mechanism 3, a working arm mechanism 4 and an ash cleaning mechanism 5, wherein the hoisting mechanism is positioned at the top of the silo 6, the supporting mechanism is respectively connected with the supporting arm mechanism and the working arm mechanism, and the ash cleaning mechanism is positioned at the tail end of the working arm mechanism;
the hoisting mechanism can drive the supporting mechanism to move up and down and can drive the supporting arm mechanism to rotate from a vertical state to a horizontal state;
the support mechanism drives the working arm mechanism to rotate, so that the ash cleaning mechanism is driven to clean the inner wall of the silo of the cement silo.
Before the robot enters the warehouse body, the robot is in a contraction state, namely the supporting arm 3 and the working arm 4 are in vertical positions, and all the electric cylinders are not extended, as shown in fig. 3.
The hoisting mechanism comprises a hanging steel cable 13, at least one guide steel cable 14, a first winding drum 11 for winding the hanging steel cable, a second winding drum 12 for winding the guide steel cable, a lifting motor A15 for driving the first winding drum to wind and unwind, and a lifting motor B16 for driving the second winding drum to wind and unwind. In this embodiment, the number of the guide steel cables is three, the second winding drum is divided into three sections by the baffle plate, and each section is wound with one guide steel cable.
The supporting mechanism comprises a vertical rod 21, a supporting base 23, a rotating joint 26 and an amplitude-variable push rod 27, the upper end of the vertical rod is connected with the suspension steel cable, the lower end of the vertical rod is connected with the supporting base, the rotating joint is connected with the supporting base, one end of the amplitude-variable push rod is hinged with the rotating joint, and the other end of the amplitude-variable push rod is hinged with the working arm mechanism. The suspension steel cable is connected with the top of the vertical rod, and the whole robot main body is driven to move up and down by the retraction of the suspension steel cable.
The support arm mechanism comprises at least one support arm, and one end of the guide steel cable is connected with the support arm. The supporting arms are three, and the three supporting arms are uniformly arranged along the circumferential direction of the supporting base. Three first pin shafts 22 are arranged on the supporting base and are annularly arranged around the central axis of the vertical rod in an angle of 120 degrees. Each first pin shaft is respectively connected with the bottom end of one support arm, so that the support arms can rotate around the first pin shafts in a vertical plane, and the support arms cannot rotate any more after rotating from a vertical position to a horizontal position due to the limitation of the support base. The supporting arm takes an electric motor as a direct power source to drive a lead screw inside the supporting arm to rotate, and the lead screw converts the spiral motion into linear motion, so that the arm is stretched, and the total length of the arm after the arm is completely stretched is not less than the radius of the silo.
The ash removal mechanism comprises an air storage tank, a metal hose 52 and a tail end injection pipe 51, one end of the metal hose is communicated with the air storage tank, the other end of the metal hose is communicated with the tail end injection pipe, and a spray head 53 is installed on the tail end injection pipe. The gas storage tank is arranged at the top of the cement silo, and the metal hose conveys high-pressure gas from the gas storage tank to the tail end injection pipe. The tail end injection pipe is installed at the tail end of the working arm, the injection pipe is provided with a pneumatic stepping rotating nozzle, the nozzle automatically rotates for a certain angle once injection, the effective cleaning range can be greatly improved, the tail end injection pipe can be carried by the three working arms, and the high-efficiency warehouse cleaning is realized by the simultaneous working.
The working arm mechanism comprises a working arm and a weight box, the working arm is connected with the rotating joint, the metal hose is wound on the working arm, and the weight box is located in the opposite direction of the spray head. In this embodiment, the working arm is a three-section straight push type electric cylinder, which includes a first section rod 41, a second section rod 42 and a third section rod 43, the rotary joint is connected with the supporting base through a central shaft cylinder 25, the rotary joint is provided with a second pin shaft 28, the second pin shaft is connected with a pin shaft hole of the first section rod, and the rotary angle of the joint can be controlled by controlling the rotating motor; the other end of the variable-amplitude push rod is hinged with the first section rod, and the working arm is driven to do reciprocating rotary motion around the bottom pin shaft through shortening and extending of the variable-amplitude push rod. The weight box is connected with the rotating joint through a short rod to play a balancing role.
The supporting arm adopts a four-section direct-pushing type electric cylinder and comprises a first section arm 31, a second section arm 32, a third section arm 33 and a fourth section arm 34, wherein a rubber cushion 35 is installed at the tail end of the fourth section arm, and the supporting arm plays a role in buffering when the arm is in contact with a storehouse body.
A guide wheel 24 is arranged on the side surface of the upright rod, and one end of the guide steel cable is connected with the supporting arm by bypassing the guide wheel. In this embodiment, the upright is triangular prism-shaped, and each side is provided with a guide wheel, and one end of the guide steel cable is wound around the guide wheel and connected with the supporting arm.
At least one camera is installed on the supporting base. Three cameras are arranged on the supporting base and are respectively a camera a, a camera b and a camera c, and the three cameras are annularly arranged at 120 degrees. The pictures shot by the three cameras are subjected to picture splicing treatment in the background, so that a real-time image without dead angles in the library can be obtained.
The working principle of the utility model is as follows:
two lifting motors on the hoisting mechanism are started, the suspension steel cable and the three guide steel cables are released simultaneously, and under the action of gravity, the robot main body enters the interior of the silo body from the central opening at the top of the silo and moves from top to bottom. In the process, three high-definition cameras a, b and c arranged on the supporting base continuously take pictures of the cylinder wall and upload the pictures to the server for data processing, so that the part needing to be cleaned is found, and the cleaning height is calculated.
After reaching the proper cleaning height, the lifting motor A of the suspension steel cable is controlled to be closed, the three guide steel cables are continuously released, the supporting arm rotates around the first pin shaft on the supporting base until the supporting arm is horizontal, and the lifting motor B is closed.
And starting a built-in motor of the supporting arm to slowly extend the first section arm to the fourth section arm until the rubber cushion is firmly supported on the inner wall of the silo, wherein the three telescopic arms are all the same, and the robot is stabilized in the silo through the reaction force of the barrel wall.
And starting the amplitude-variable push rod, extending the push rod, rotating the working arm around the second pin shaft and unfolding the working arm. The rotary joint rotates for a proper angle around the central shaft cylinder to enable the tail end injection pipe to be aligned to the cleaning position. The built-in motor of the working arm is started to make the first rod to the third rod extend slowly and send the tail end injection pipe to a position which is separated from the cleaning point by an effective distance.
And starting the ash cleaning mechanism, spraying high-pressure gas from the tail end injection pipe through the metal hose, and crushing and stripping hardened and adhered materials from the upper surface of the inner wall. After the part is cleaned up, the rotary joint is controlled to rotate by a certain angle again, the working arm is aligned to another cleaning point at the same height, and the working arm can flexibly stretch out and draw back in the process, so that the cleaning position is kept within the effective cleaning distance of the tail end injection pipe.
When the inner wall surfaces of the silo at the same height are cleaned, the three supporting arms are synchronously shortened to enable the robot to return to an unstable state, then the lifting motor is started, the hanging steel cable and the three guiding steel cables are synchronously released to enable the robot to reach the next cleaning height, then the lifting motor is closed, and the ash removal work is carried out layer by layer until all the inner surface parts of the silo are cleaned. And finally, the robot is recovered to a contracted state and is lifted out of the silo from the top opening through a hoisting mechanism, so that the cleaning operation is completed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The utility model provides a cement silo automatic control deashing robot which characterized in that: the device comprises a hoisting mechanism (1), a supporting mechanism (2), a supporting arm mechanism (3), a working arm mechanism (4) and an ash removal mechanism (5), wherein the hoisting mechanism is positioned at the top of a silo (6), the supporting mechanism is respectively connected with the supporting arm mechanism and the working arm mechanism, and the ash removal mechanism is positioned at the tail end of the working arm mechanism;
the hoisting mechanism can drive the supporting mechanism to move up and down and can drive the supporting arm mechanism to rotate from a vertical state to a horizontal state;
the support mechanism drives the working arm mechanism to rotate, so that the ash cleaning mechanism is driven to clean the inner wall of the silo of the cement silo.
2. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 1, which is characterized in that: the hoisting mechanism comprises a hanging steel cable (13), at least one guide steel cable (14), a first winding drum (11) used for winding the hanging steel cable, a second winding drum (12) used for winding the guide steel cable, a lifting motor A (15) used for driving the first winding drum to be wound and unwound, and a lifting motor B (16) used for driving the second winding drum to be wound and unwound.
3. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 2, which is characterized in that: the supporting mechanism comprises a vertical rod (21), a supporting base (23), a rotary joint (26) and an amplitude-variable push rod (27), the upper end of the vertical rod is connected with the suspension steel cable, the lower end of the vertical rod is connected with the supporting base, the rotary joint is connected with the supporting base, one end of the amplitude-variable push rod is hinged with the rotary joint, and the other end of the amplitude-variable push rod is hinged with the working arm mechanism.
4. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 2, which is characterized in that: the support arm mechanism comprises at least one support arm, and one end of the guide steel cable is connected with the support arm.
5. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 3, wherein the robot comprises: the deashing mechanism includes gas holder, metal collapsible tube (52), terminal injection pipe (51), metal collapsible tube's one end with the gas holder intercommunication, metal collapsible tube's the other end with terminal injection pipe intercommunication, install shower nozzle (53) on the terminal injection pipe.
6. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 5, wherein the robot comprises: the working arm mechanism comprises a working arm and a weight box, the working arm is connected with the rotating joint, the metal hose is wound on the working arm, and the weight box is located in the opposite direction of the spray head.
7. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 1, which is characterized in that: the supporting arm adopts a four-section direct-pushing type electric cylinder and comprises a first section arm (31), a second section arm (32), a third section arm (33) and a fourth section arm (34), and a rubber cushion (35) is installed at the tail end of the fourth section arm.
8. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 3, wherein the robot comprises: and a guide wheel (24) is arranged on the side surface of the upright rod, and one end of the guide steel cable bypasses the guide wheel and is connected with the supporting arm.
9. The automatic control ash cleaning robot for the silo of the cement silo as claimed in claim 3, wherein the robot comprises: at least one camera is installed on the supporting base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121820747.3U CN215789898U (en) | 2021-08-05 | 2021-08-05 | Automatic control ash cleaning robot for silo of cement silo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121820747.3U CN215789898U (en) | 2021-08-05 | 2021-08-05 | Automatic control ash cleaning robot for silo of cement silo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215789898U true CN215789898U (en) | 2022-02-11 |
Family
ID=80128594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121820747.3U Active CN215789898U (en) | 2021-08-05 | 2021-08-05 | Automatic control ash cleaning robot for silo of cement silo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215789898U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115193852A (en) * | 2022-07-14 | 2022-10-18 | 柏中环境科技(上海)股份有限公司 | Foldable cleaning device and cleaning method |
| CN116493359A (en) * | 2023-04-28 | 2023-07-28 | 佛山市谢工机械设备有限公司 | Cleaning and sterilizing device for sludge treatment vehicle and using method thereof |
| CN117718987A (en) * | 2024-02-18 | 2024-03-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
-
2021
- 2021-08-05 CN CN202121820747.3U patent/CN215789898U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115193852A (en) * | 2022-07-14 | 2022-10-18 | 柏中环境科技(上海)股份有限公司 | Foldable cleaning device and cleaning method |
| CN115193852B (en) * | 2022-07-14 | 2023-11-07 | 柏中环境科技(上海)股份有限公司 | Folding cleaning device and cleaning method |
| CN116493359A (en) * | 2023-04-28 | 2023-07-28 | 佛山市谢工机械设备有限公司 | Cleaning and sterilizing device for sludge treatment vehicle and using method thereof |
| CN116493359B (en) * | 2023-04-28 | 2024-01-09 | 佛山市谢工机械设备有限公司 | Cleaning and sterilizing device for sludge treatment vehicle and using method thereof |
| CN117718987A (en) * | 2024-02-18 | 2024-03-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
| CN117718987B (en) * | 2024-02-18 | 2024-04-19 | 中粮工科迎春智能装备(湖南)有限公司 | Robot with safety mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215789898U (en) | Automatic control ash cleaning robot for silo of cement silo | |
| CN103963054A (en) | Silo cleaning robot | |
| CN109403207B (en) | Concrete pier sprays curing means | |
| CN211971111U (en) | Clear storehouse device of cement storehouse | |
| CN105347171A (en) | Large-sized building block lifting appliance | |
| CN107504510A (en) | A kind of special-shaped climbing type chimney cleaning robot and method for cleaning | |
| CN211466400U (en) | Industrial robot automatic tracking grabbing machine based on machine vision | |
| CN104005568B (en) | One is climbed construction equipment | |
| CN109928237A (en) | A kind of intelligent environment protection grain face cleaning screen | |
| CN205928685U (en) | Clear storehouse scale removal robot of intelligence | |
| CN111661503A (en) | Automatic cleaning device of silo | |
| CN210622818U (en) | Wet spraying manipulator with shoveling function | |
| CN203867214U (en) | Climbing construction device | |
| CN112896822A (en) | Cleaning robot for cleaning inner wall of coal storage bin | |
| CN203891494U (en) | Climbing working device | |
| CN208523605U (en) | A kind of folding vegetation irrigation sprinkler convenient for storage | |
| CN113799154B (en) | Warehouse cleaning robot | |
| CN210386867U (en) | Novel storehouse cleaning mechanical arm and novel storehouse cleaning equipment | |
| CN207230585U (en) | A kind of abnormity climbing type chimney cleaning robot | |
| CN210000936U (en) | external power supply type on-line cement warehouse cleaning device | |
| CN212669315U (en) | A biomaterial throws in equipment for groundwater is restoreed | |
| CN215362980U (en) | Cleaning robot for cleaning inner wall of coal storage bin | |
| CN111591255B (en) | Sweeping and cleaning device for residual fire coal in carriage | |
| CN215150233U (en) | Concrete maintenance test block handling device | |
| CN215143061U (en) | Clear storehouse device suitable for multiple storehouse type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |