WO2023103608A1 - 一种具有可移动吸头的容器底部残渣负压吸取系统 - Google Patents

一种具有可移动吸头的容器底部残渣负压吸取系统 Download PDF

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Publication number
WO2023103608A1
WO2023103608A1 PCT/CN2022/126609 CN2022126609W WO2023103608A1 WO 2023103608 A1 WO2023103608 A1 WO 2023103608A1 CN 2022126609 W CN2022126609 W CN 2022126609W WO 2023103608 A1 WO2023103608 A1 WO 2023103608A1
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WIPO (PCT)
Prior art keywords
suction head
wire rope
suction
base plate
dust
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Application number
PCT/CN2022/126609
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English (en)
French (fr)
Inventor
姜潮
王昭
田万一
胡德安
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湖南大学
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Application filed by 湖南大学 filed Critical 湖南大学
Publication of WO2023103608A1 publication Critical patent/WO2023103608A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks

Definitions

  • the present application relates to the technical field of negative pressure dust collection equipment, in particular, to a negative pressure suction system for residue at the bottom of a container with a movable suction head.
  • Negative pressure suction is a common method of material handling using the principle of pneumatic conveying. It is widely used in production and life, such as indoor vacuum cleaning, outdoor street cleaning, agricultural grain transportation, and industrial residue collection. The technology is quite mature. However, due to performance limitations, the suction port of the negative pressure suction device is usually small and the suction range is limited. To achieve a large range of suction work, it usually needs to be combined with a motion mechanism or a moving device to realize the movement of the suction port. Larger range of absorption.
  • the movement of the suction port can be realized by using a conventional motion mechanism or mobile device to meet the movement requirements in the suction place, but for a narrow suction area, such as the bottom of a large-depth chemical container with a constricted mouth, it is necessary To clean up the residue at the bottom, it is necessary to put the suction pipe into the bottom of the container, but it is difficult for the suction pipe to move at the bottom of the container, and it is difficult for the conventional motion mechanism or moving device to enter the container, so that the suction pipe at the bottom of the container cannot achieve a wide range of motion.
  • the suction range cannot cover the entire area at the bottom of the container, and it is difficult to clean up the residue at the bottom of the container.
  • the purpose of this application is to put the mobile suction head into the bottom of the container by means of hoisting, realize the large-scale suction of the suction head at the bottom of the container through the movement characteristics of the mobile suction head itself, and solve the problem of cleaning residues at the bottom of large-depth containers.
  • the technical solution of the present application is to provide a negative pressure suction system for residues at the bottom of the container with a movable suction head, the negative pressure suction system at least includes a dust collection device, a dust suction pipe, a moving device and a moving suction head device.
  • a moving suction head device is arranged below the device, and the dust collection device is connected to the moving suction head device through a dust suction pipe.
  • the moving suction head device includes: a shell, a first pulley, a second pulley, a parallel parallel mechanism, a wire rope and a suction head ;
  • the upper part of the housing is provided with a lifting ring, which is connected to the mobile device, and the lower part of the housing is provided with a first pulley;
  • the parallel parallel mechanism is composed of an upper platform, an upper universal joint, a connecting rod, a lower universal joint and a lower platform.
  • the first pulley, the second pulley and the housing are connected to the moving device, and the wire rope is stretched or contracted by the moving device so that the parallel parallel mechanism drives the suction head to move in the horizontal plane.
  • the housing includes: an upper base plate, a side vertical plate, a slide rail, a slide rail connection block, a lower base plate and a limit block; There is a side vertical plate, and the inner side of the side vertical plate is provided with a slide rail, and a slide rail connection block is installed on the slide rail; the lower base plate is connected to the slide rail connection block, and the lower base plate can be driven up and down along the slide rail by the slide rail connection block For moving, the lower base plate is used to install the first pulley and the upper platform; the bottom of the side riser is provided with a limit block, and the limit block is used to limit the lower base plate.
  • one side of the upper substrate is provided with an upper installation hole
  • one side of the lower substrate is provided with a lower installation hole
  • the upper installation hole is opposite to the lower installation hole
  • the upper installation hole and the lower installation hole For the installation of suction ducts.
  • an upper steel wire rope through hole is provided at the center of the upper base plate, and a lower steel wire rope through hole is provided at the center of the lower base plate, and the upper steel wire rope through hole and the lower steel wire rope through hole are used to make the steel wire rope
  • the housing also includes: a spring; one end of the spring is installed below the through hole of the upper wire rope, and the other end of the spring is installed above the through hole of the lower wire rope, and the spring is used to provide a downward thrust to the lower base plate.
  • the moving suction head device further includes: a camera and a lighting lamp; the camera and lighting lamp are installed below the lower platform, and the camera and lighting lamp are arranged parallel to the suction head.
  • the moving device at least includes a boom and a hoisting device, the boom is provided with a block, the hoisting device is installed on the block, and the hoisting device at least includes: a lifting device, a drive device, wire winding device and pipe reeling device; the side wall of the pipe reeling device is provided with a pipe installation hole, and the pipe installation hole is used to install the dust suction pipe, so that the dust suction pipe is wound on the runner of the pipe reel device; the lifting device It is equipped with a lifting motor, a hook and a hanging rope, the lifting motor is connected to the connection end of the hook, one end of the hanging rope is connected to the lifting ring, and the other end of the hanging rope is sleeved on the hook body of the hook, so that the mobile suction head device can be hoisted on the hook Above, the lifting device is used to lift or lower the mobile suction head device; the driving device at least includes a drive motor and a wire rope clamp connected to the wire
  • the dust collection device includes: a fixed bracket, a collection bucket, a cyclone separator, and a vacuum generator; a cyclone separator is installed above the fixed bracket, and the suction port of the cyclone separator is connected to The dust suction pipe, the cyclone separator is used to separate the residue sucked through the dust suction pipe; the vacuum generator is arranged above the cyclone separator, and the vacuum generator is used to generate negative pressure so that the dust collection device passes through the dust suction pipe and the suction The head sucks the residue in the area to be cleaned; the collection bucket is set under the cyclone separator, and the collection bucket is used to collect the separated residue.
  • the dust collection device further includes: a jacking cylinder; the jacking cylinder is installed between the fixed bracket and the collection bucket, and the jacking cylinder is used to jack up or lower the collection bucket, so that the collection The bucket is separated from the cyclone.
  • the dust collection device further includes: a pneumatic butterfly valve; the pneumatic butterfly valve is arranged between the collection barrel and the cyclone separator, and the pneumatic butterfly valve is used to control the communication between the cyclone separator and the collection barrel or disconnect.
  • the dust collection device further includes: a muffler; the muffler is arranged at the exhaust port of the vacuum generator, and the muffler is used to reduce the noise generated by the vacuum generator.
  • the negative pressure suction system uses a pulley, a steel wire rope, a universal joint and a connecting rod to form a parallel parallel mechanism, so that it can perform spherical translational movement, combined with a suction head arranged at the lower end, it forms a movement that can realize three-degree-of-freedom movement
  • the suction head device is hoisted by the hoisting device, and the mobile suction head device can be put into the bottom of the container through the narrow inlet of the container, and then the movement characteristics of the mobile suction head device can be used to clean a large range of residues at the bottom of the container.
  • Fig. 1 is a schematic diagram of a container bottom residue negative pressure suction system with a movable suction head according to an embodiment of the present application
  • Fig. 2 is a detailed structural schematic diagram of a moving suction head device according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a moving suction head and a driving device thereof according to an embodiment of the present application
  • Fig. 4 is a schematic diagram of a casing wire rope according to an embodiment of the present application.
  • 1-dust suction and collection device 11-fixed bracket, 12-jacking cylinder, 13-collection barrel, 14-pneumatic butterfly valve, 15-cyclone separator, 16-vacuum generator, 17-muffler, 2- Dust suction pipe, 3-boom, 4-hoisting hoisting device, 41-basic frame, 42-hoisting device, 43-winding device, 44-hose winding device, 45-driving device, 451-side support plate, 452 -Drive motor, 453-coupling, 454-sliding table, 455-wire rope clamping block, 456-lower support plate, 46-pipeline guiding device, 47-hook, 48-lanyard, 5-moving suction head device, 501 -Hanging ring, 502-upper base plate, 503-side vertical plate, 504-slide rail, 505-spring, 506-slide rail connecting block, 507-lower base plate, 508-limiting block, 509-first pulley, 510-the first
  • this embodiment provides a negative pressure suction system for residues at the bottom of the container with a movable suction head.
  • the head device 5 is provided with a moving suction head device 5 below the moving device, and the dust collection device 1 is connected to the moving suction head device 5 through the dust suction pipe 2, wherein the moving device can be realized by structures such as a boom, a lifting motor, etc. To realize the movement of the suction head device 5 along the horizontal and vertical directions.
  • the dust collection device 1 When the moving suction head device 5 moves to a designated area (such as the inside of the container), the dust collection device 1 generates negative pressure, and the residue inside the container enters the dust collection device 1 along the dust suction pipe 2, and is separated and collected.
  • the moving suction head device 5 in order to realize the three-degree-of-freedom movement of the moving suction head device 5 and solve the problem that the suction range cannot cover the entire area of the bottom of the container, the moving suction head device 5 includes: a housing, a first Pulley 509, the second pulley 510, parallel parallel mechanism 55, steel wire rope 512 and suction head 517; the top of the housing is provided with suspension ring 501, suspension ring 501 is connected to mobile device, so that mobile suction device 5 is hoisted below the mobile device, Make the moving suction head device 5 move horizontally and vertically along with the moving device.
  • a first pulley 509 is arranged below the housing; the parallel parallel mechanism 55 is composed of an upper platform 551, an upper universal joint 552, a connecting rod 553, a lower universal joint 554 and a lower platform 555, and the upper platform 551 There is a second pulley 510 above the top, the upper platform 551 is connected to the bottom of the casing through the column 511, and the upper universal joint 552 is arranged under the upper platform 551, and the upper universal joint 552 is connected to the lower universal joint through the connecting rod 553.
  • Section 554 the lower end universal joint 554 is arranged on the top of the lower platform 555, and a suction head 517 is installed below the lower platform 555, and the suction head 517 is connected to the dust suction pipe 2, wherein the connecting rod 553 is provided with a boss; the steel wire rope 512 One end of the wire rope 512 is connected to the boss, and the other end of the wire rope 512 passes through the first pulley 509, the second pulley 510 and the housing in turn and is connected to the mobile device. The suction head 517 is driven to move.
  • first pulley 509 there are three sets of the first pulley 509 , the second pulley 510 , the upper universal joint 552 , the connecting rod 553 , and the lower universal joint 554 .
  • the parallel mechanism 55 includes an upper platform 551, an upper universal joint 552, a connecting rod 553, a lower universal joint 554, and a lower platform 555.
  • Parallel parallel mechanism 55 lower ends are equipped with dust suction joint 514, and the bottom end of dust suction joint 514 is equipped with suction head 517, and side connects flexible pipe 513, so that communicate suction head 517 and dust suction pipeline 2.
  • the housing includes: an upper base plate 502, a side vertical plate 503, a slide rail 504, a slide rail connecting block 506, a lower base plate 507, a limit block 508 and an outer cover 518; a suspension ring 501 is arranged above the upper base plate 502,
  • the bottom of the upper base plate 502 is fixedly provided with a side vertical plate 503, and the inner side of the side vertical plate 503 is provided with a slide rail 504, and a slide rail connection block 506 is installed on the slide rail 504;
  • the lower base plate 507 is connected to the slide rail connection block 506, and the lower base plate 507 can move up and down along the slide rail 504 under the drive of the slide rail connecting block 506.
  • the lower base plate 507 is used to install the first pulley 509 and the upper platform 551; To limit the position of the lower base plate 507; the outer cover 518 is installed on the outside of the side vertical plate 503 to protect the internal structure of the housing.
  • the main supporting structure of the housing is the upper base plate 502 and the side vertical plate 503, the upper base plate 502 and the side vertical plate 503 are fixedly connected, and the upper base plate 502 is equipped with a suspension ring 501 for moving the suction head device 5.
  • the upper base plate 502 is evenly distributed with 3 wire rope through holes near the center, and the side vertical plate 503 is installed with a linear slide rail 504 along the vertical direction, and the slider of the linear slide rail 504 and the lower base plate 507 pass through the slide rail connecting block 506 Connected, the lower base plate 507 can slide along the linear slide rail, and the limit block 508 is installed at the bottom of the side vertical plate 503, which is used to limit the lower base plate 507 and prevent the lower base plate from detaching from the slide rail.
  • the lower base plate 507 is also evenly distributed with 3 wire rope through holes near the center, and its position corresponds to the position of the wire rope through holes on the upper base plate 502, so that the steel wire ropes pass through the upper base plate 502 and the lower base plate 507.
  • the above-mentioned parallel parallel mechanism 55 is installed through several columns 511, the first pulley 509 is installed under the lower base plate 507, and the second pulley 510 is also installed on the upper end of the parallel parallel mechanism 55.
  • the first pulley 509 and the second pulley 510 are in common Form a block of pulleys, there are 3 blocks of pulleys in the mobile suction head device 5.
  • one side of the upper base plate 502 is provided with an upper installation hole
  • one side of the lower base board 507 is provided with a lower installation hole
  • the upper installation hole and the lower installation hole are arranged oppositely, and the upper installation hole and the lower installation hole are used for installing the dust suction pipe 2 .
  • the housing is also provided with a spring 505,
  • an upper wire rope through hole is provided at the center of the upper base plate 502, and a lower wire rope through hole is provided at the center of the lower base plate 507.
  • the upper wire rope through hole and the lower wire rope through hole are used to allow the steel wire rope 512 to pass through the housing.
  • the housing also includes: a spring 505; one end of the spring 505 is installed below the through hole of the upper wire rope, and the other end of the spring 505 is installed above the through hole of the lower wire rope.
  • the spring 505 is used to provide a downward thrust to the lower base plate 507.
  • the mobile suction device 5 also includes: a camera 516 and a lighting lamp 515; the camera 516 and the lighting lamp 515 are installed below the lower platform 555, and the camera 516 and the lighting lamp 515 are arranged in parallel with the suction head 517, In order to illuminate the working area of the suction head 517, it is convenient for the operator to control.
  • this embodiment also shows an implementation of a mobile device
  • the mobile device at least includes a boom 3 and a hoisting device 4, as shown in Figure 1
  • the boom 3 is provided with Pulley
  • lifting winch device 4 is installed on the tackle
  • lifting winch device 4 can realize the mobile suction head device 5 moving in the vertical direction, also can realize the dust suction pipe 2 that is connected with the moveable suction head device 5 and other
  • the following movement of the relevant lines guides the relevant pipeline lines at the same time
  • the hoisting device 4 is installed on the boom 3, and can rotate and move on the boom 3.
  • the hoisting device 4 at least includes: a lifting device 42, a driving device 45 and a pipe rolling device 44; the side wall of the pipe rolling device 44 is provided with a pipe installation hole, and the pipe installation hole is used to install the dust suction pipe 2 , so that the suction pipe 2 is wound on the runner of the reel device 44; the lifting device 42 is provided with a lifting motor, a hook 47 and a hanging rope 48, the lifting motor is connected to the connecting end of the hook 47, and one end of the hanging rope 48 is connected to On the suspension ring 501, the other end of the lanyard 48 is sleeved on the hook body of the hook 47, so that the mobile suction head device 5 is hoisted on the hook 47, and the lifting device 42 is used to lift or lower the mobile suction head device 5; as shown in Figure 3
  • the driving device 45 at least includes a driving motor 452 and a wire rope clamping block 455 connected to the wire rope 512, and the driving motor 452 is used to drive the
  • the hoisting device 4 includes structures such as a base frame 41, a lifting device 42, a wire winding device 43, a coiling device 44, a driving device 45, a pipeline guiding device 46, a hook 47 and a hanging rope 48, wherein the base frame 41 It is the frame of hoisting device 4, and other parts are all installed on the base frame.
  • Lifting device 42 is used for hoisting mobile suction head device 5, links to each other with mobile suction head device 5 by hook 47 and lanyard 48, makes it move in vertical direction, and reel device 43 and reel device 44 are used for collecting suction head device respectively.
  • Dust pipeline 2 and casing steel wire rope, camera signal line and other lines ensure the stable operation of hoisting device 4 and avoid winding of lines and dust suction pipeline 2.
  • the dust suction pipe 2 and the line guide on the top ensure that it moves smoothly.
  • the driving device 45 is a driving part of the moving suction head device 5, and is used to drive the moving suction head device 5 to realize three-degree-of-freedom movements.
  • the drive device 45 includes a side support plate 451, a lower support plate 456 and 3 drive devices. There are 3 through holes on the lower support plate 456.
  • the drive device 45 includes a drive motor 452, a coupling 453, a slide table 454 and a wire rope clamping block 455 , the wire rope clip 455 is installed on the slide table 454 , and the drive motor 452 drives the slide table 454 to slide through the coupling 453 .
  • the steel wire rope clamping block 455 moves simultaneously with the slide table 454, and the steel wire rope 512 is clamped on the steel wire rope clamping block 455. Therefore, by controlling the movement of the driving motor 452, the stretching or contraction of the steel wire rope 512 can be realized.
  • the connecting rod 553 connected to it will make the lower platform 555 of the parallel parallel mechanism 55 do a relative spherical translation movement under the action of the upper end universal joint 552 and the lower end universal joint 554.
  • the residue (such as inside the container) is sucked under negative pressure to solve the problem that the suction range cannot cover the entire area of the bottom of the container.
  • this embodiment also shows an implementation of a dust collection device 1, as shown in Figure 1, the dust collection device 1 includes: a fixed bracket 11, a collection bucket 13, Device 15, vacuum generator 16; Fixed support 11 is the frame of dust suction collecting device 1, and the top of fixed support 11 is equipped with cyclone separator 15, and the suction port of cyclone separator 15 is connected with dust suction pipeline 2, and cyclone separates
  • the device 15 is used to separate the residue sucked through the dust suction pipe 2;
  • the vacuum generator 16 is arranged above the cyclone separator 15, and the vacuum generator 16 is used to generate negative pressure so that the dust collection device 1 passes through the dust suction pipe 2 and the suction head 517 suck the residue in the area to be cleaned;
  • the collection bucket 13 is arranged below the cyclone separator 15, and the collection bucket 13 is used to collect the separated residue.
  • the cyclone separator 15 is connected to one end of the dust suction pipeline 2, and the other end of the dust suction pipeline 2 is connected to the lifting hoisting device 4, and then extended to the moving suction head device 5 by lifting the hoisting device 4, and the hoisting coil Lifting device 4 is installed on the tackle of boom 3, and can rotate and move on boom 3.
  • the dust collection device 1 also includes: a jacking cylinder 12; the jacking cylinder 12 is installed between the fixed bracket 11 and the collection bucket 13, and the jacking cylinder 12 is used to jack up or lower the collection bucket 13, so that the collection bucket 13 is separated from the cyclone separator 15.
  • a jacking cylinder 12 is installed at the bottom of the fixed bracket 11, and a collecting bucket 13 is placed above the jacking cylinder 12.
  • the jacking cylinder 12 can lift the collection bucket 13 upwards so that the collection bucket 13 is installed under the cyclone separator 15; Descend so that the collection bucket 13 is removed from the cyclone separator 15, and the residue collected in the collection bucket 13 is removed.
  • the dust collection device 1 also includes: a pneumatic butterfly valve 14; the pneumatic butterfly valve 14 is arranged between the collection bucket 13 and the cyclone separator 15, and the pneumatic butterfly valve 14 is used to control the communication between the cyclone separator 15 and the collection bucket 13 or disconnect.
  • a pneumatic butterfly valve 14 is installed at the bottom of the cyclone separator 15.
  • the pneumatic butterfly valve 14 is used to open and close the bottom of the cyclone separator 15, and its lower end is aligned with the inlet of the collection bucket 13. The lower end of 14 is tightly connected.
  • close the pneumatic butterfly valve 14 lift the cylinder 12 down, replace the collection bucket, then lift the cylinder 12 up, open the pneumatic butterfly valve 14, and continue to absorb and collect the residue.
  • the dust collection device 1 further includes: a muffler 17 ; the muffler 17 is arranged at the exhaust port of the vacuum generator 16 , and the muffler 17 is used to reduce the noise generated by the vacuum generator 16 .
  • the negative pressure suction system includes a dust collection device 1, a dust suction pipe 2, a boom 3, a hoisting device 4 and a moving suction head device 5, and the dust collection device 1 is used to generate a vacuum Negative pressure to suck the residue, and at the same time, separate and collect the sucked residue.
  • the dust collection device 1 is connected with the moving suction head device 5 through the dust suction pipe 2, and the moving suction head device 5 is hoisted under the hoisting device 4.
  • the movement of three degrees of freedom can be realized under the drive of the driving device.
  • the driving device is installed inside the hoisting device 4, and the hoisting device 4 can realize the vertical movement of the mobile suction head device 5, and can also realize the movement with the mobile suction device.
  • the following movement of the dust suction pipeline 2 connected with the head device 5 and other relevant lines guides the relevant pipeline lines at the same time, and the hoisting device 4 is installed on the boom 3, and can rotate and move on the boom 3.
  • the dust collection device 1 includes a fixed bracket 11, a jacking cylinder 12, a collection bucket 13, a pneumatic butterfly valve 14, a cyclone separator 15, a vacuum generator 16 and a muffler 17, and the fixed bracket 11 is a dust collection device.
  • a jacking cylinder 12 is installed at the bottom of the fixed bracket 11, a collection bucket 13 is placed above the jacking cylinder 12, the jacking cylinder 12 can lift the collection bucket 13 upwards, and the cyclone separator 15 is installed on the upper end of the fixed bracket 11 , The cyclone separator 15 is used to separate the residue, and a vacuum generator 16 is installed on it.
  • the vacuum generator 16 is used to generate negative pressure.
  • the vacuum generator 16 is connected with the muffler 17, and the muffler 17 is the outlet of the gas in the device.
  • a pneumatic butterfly valve 14 is installed at the bottom of the cyclone separator 15, and the pneumatic butterfly valve 14 is used to open and close the bottom of the cyclone separator 15, and its lower end is aligned with the inlet of the collection bucket 13, and the cylinder 12 is lifted to make it
  • the collection bucket 13 is closely connected with the lower end of the pneumatic butterfly valve 14. When the collection bucket 13 is full, close the pneumatic butterfly valve 14, lift the cylinder 12 down, replace the collection bucket, then lift the cylinder 12 up, open the pneumatic butterfly valve 14, and continue to remove the residue Absorb and collect.
  • the cyclone separator 15 is connected to one end of the dust suction pipeline 2, and the other end of the dust suction pipeline 2 is connected to the hoisting device 4, and then extended to the moving suction head device 5 by lifting the hoisting device 4,
  • the hoisting device 4 is installed on the tackle of the boom 3, and can rotate and move on the boom 3.
  • the hoisting device 4 includes structures such as a base frame 41, a lifting device 42, a coiling device 43, a tube coiling device 44, a driving device 45, a pipeline guiding device 46, a hook 47, and a lanyard 48, wherein the base frame 41 is a hoisting coil Lift the frame of device 4, and other each parts are all installed on the base frame.
  • Lifting device 42 is used for hoisting mobile suction head device 5, links to each other with mobile suction head device 5 by hook 47 and lanyard 48, makes it move in vertical direction, and reel device 43 and reel device 44 are used for collecting suction head device respectively.
  • Dust pipeline 2 and other circuits such as casing steel wire rope, camera signal line, pipeline guide 46 are used for giving the dust suction pipeline 2 on the reel device 43 and the reel device 44 and circuit guide, guarantee its smooth motion.
  • the driving device 45 is a driving part of the moving suction head device 5, and is used to drive the moving suction head device 5 to realize three-degree-of-freedom movements.
  • the drive device 45 includes a side support plate 451, a lower support plate 456 and 3 drive devices. There are 3 through holes on the lower support plate 456.
  • the drive device 45 includes a drive motor 452, a coupling 453, a slide table 454 and a wire rope clamping block 455 , the wire rope clip 455 is installed on the slide table 454 , and the drive motor 452 drives the slide table 454 to slide through the coupling 453 .
  • its main supporting structure is an upper base plate 502 and a side riser 503, which are fixedly connected between the upper base plate 502 and the side riser 503, and a suspension ring 501 is installed on the upper base plate 502 for Lift the mobile suction head device 5, the upper base plate 502 is evenly distributed with 3 wire rope through holes near the center, the side vertical plate 503 is installed with a linear slide rail 504 along the vertical direction, the slider of the linear slide rail 504 is connected with the lower base plate 507 are connected by the slide rail connecting block 506, the lower base plate 507 can slide along the linear slide rail, and the limit block 508 is installed at the bottom of the side vertical plate 503, which is used to limit the lower base plate 507 and prevent the lower base plate from breaking away from the slide rail.
  • the lower base plate 507 also has three wire rope through holes evenly distributed along the center, and its position corresponds to the position of the wire rope through holes on the upper base plate 502 .
  • the above-mentioned parallel parallel mechanism 55 is installed through several columns 511, and the parallel parallel mechanism 55 and the lower base plate 507 are fixedly connected through several columns 511.
  • a first pulley 509 is installed below the lower base plate 507, and a second pulley 510 is also installed on the upper end of the parallel parallel mechanism 55.
  • the first pulley 509 and the second pulley 510 together form a pulley block, and there are 3 pulley blocks in the moving suction head device 5.
  • the parallel parallel mechanism 55 includes an upper platform 551, an upper universal joint 552, a connecting rod 553, a lower universal joint 554 and a lower platform 555.
  • connecting rods 553 between the upper platform 551 and the lower platform 555, and each connecting rod 553
  • the connecting rod 553 is connected with the upper platform 551 and the lower platform 555 through the upper universal joint 552 and the lower universal joint 554 respectively, and the connecting rods are parallel to each other.
  • the lower platform 555 performs a spherical translational movement relative to the upper platform 551, and the two platforms are always kept parallel.
  • the lower end of the parallel parallel mechanism 55 is equipped with a dust suction joint 514, the bottom end of the dust suction joint 514 is equipped with a suction head 517, and the side is connected with a flexible pipe 513, and a camera 516 and a lighting lamp 515 are also installed at the lower end of the parallel mechanism.
  • each connecting rod 553 of the parallel parallel mechanism 55 there is a boss on each connecting rod 553 of the parallel parallel mechanism 55.
  • the wire rope 512 After the wire rope 512 is connected to the boss, it first goes around the first pulley 509, then around the second pulley 510, and then passes through the shell respectively.
  • the lower base plate 507 of the body and the wire rope through hole of the upper base plate 502 are connected to the driving device 45 in the moving device. Be connected on the wire rope clip block 455 again.
  • Springs 505 are sheathed on the wire rope between the upper base plate 502 and the lower base plate 507, and the spring 505 produces a certain thrust on the upper base plate 502 and the lower base plate 507, so that there is a separation tendency between the upper base plate 502 and the lower base plate 507.
  • the lower base plate 507 moves to the lowermost end along the slide rail 504 and is limited by the limiting block 508 .
  • the specific connection mode of the wire rope 512 is as follows: one end of the wire rope 512 is connected to the boss of the connecting rod 553 of the parallel parallel mechanism 55, and the other end is connected to the wire rope clip 455 of the driving device.
  • the driving motor 452 in the driving device 45 rotates, it drives the sliding table 454 to move so that the steel wire rope 512 moves.
  • the parallel parallel mechanism 55 starts to move under the pulling force of the steel wire rope , so that the lower platform 555 of the parallel parallel mechanism 55 realizes translational motion with three degrees of freedom.
  • the present application proposes a negative pressure suction system for residues at the bottom of the container with a movable suction head.
  • the negative pressure suction system at least includes a dust collection device, a dust suction pipe, device and a moving suction head device, a moving suction head device is arranged under the moving device, the dust collection device is connected to the moving suction head device through a dust suction pipe, and the moving suction head device includes: a housing, a first pulley, a second pulley, Parallel parallel mechanism, steel wire rope and suction head; there is a lifting ring on the top of the casing, the lifting ring is connected to the mobile device, and the first pulley is set under the casing; the parallel parallel mechanism consists of an upper platform, an upper universal joint, a connecting rod, and a lower universal joint.
  • the upper platform is provided with a second pulley
  • the upper platform is connected to the lower part of the housing through a column
  • the lower part of the upper platform is provided with an upper universal joint
  • the upper universal joint is connected to the lower end through a connecting rod.
  • Universal joint, the lower end of the universal joint is set above the lower platform, and a suction head is installed under the lower platform, and the suction head is connected to the dust suction pipe, wherein the connecting rod is provided with a boss; one end of the wire rope is connected to the boss, The other end of the wire rope passes through the first pulley, the second pulley and the housing in turn and is connected to the moving device.
  • the wire rope is stretched or contracted by the moving device so that the parallel parallel mechanism drives the suction head to move in the horizontal plane.
  • connection can be a fixed connection, a detachable connection, or an integral connection ;
  • Connected can be directly connected or indirectly connected through an intermediary.

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Abstract

一种具有可移动吸头的容器底部残渣负压吸取系统，该负压吸取系统至少包括吸尘收集装置（1）、吸尘管道（2）、移动装置（3）以及移动吸头装置（5），其中，移动吸头装置（5）的壳体的下方设置有第一滑轮（509）；并联平行机构（55）的上平台（551）的上方设置有第二滑轮（510），下方设置有上端万向节（552），上端万向节（552）通过连杆（553）转动连接于下端万向节（554），下端万向节（554）设置于下平台（555）的上方，下平台（555）的下方安装有吸头（517），吸头（517）连接于吸尘管道（2）；钢丝绳（512）的一端连接于凸台，钢丝绳（512）的另一端依次穿过第一滑轮（509）、第二滑轮（510）以及壳体后连接于移动装置，钢丝绳（512）被移动装置拉伸或收缩以使并联平行机构（55）在水平面内带动吸头（517）移动。通过该负压吸取系统，实现了移动吸头装置的三自由度运动，解决了吸取范围无法覆盖容器底部全部区域的问题。

Description

一种具有可移动吸头的容器底部残渣负压吸取系统
相关申请
本申请主张于2021年12月07日提交的、名称为“一种具有可移动吸头的容器底部残渣负压吸取系统”的中国发明专利申请：202111511994.X的优先权。
技术领域
本申请涉及负压吸尘装备的技术领域，具体而言，涉及一种具有可移动吸头的容器底部残渣负压吸取系统。
背景技术
负压吸取是应用气力输送原理进行物料搬运的一种常见方法，在生产生活中有广泛应用，如室内吸尘清洁、室外街道清扫、农业粮食输送、工业残渣碎屑收集等，负压吸取的技术已经相当成熟。然而，由于性能的限制，负压吸取装置的吸取口通常都较小，吸取范围有限，要实现大范围的吸取工作，通常需要与运动机构或移动装置相结合来实现吸取口的移动，从而进行较大范围的吸取。
对于一般的吸取场所，应用常规的运动机构或移动装置即可实现吸取口的移动，满足吸取场所内的移动要求，但是对于狭窄的吸取区域，如存在收缩口的大深度化学容器的底部，要清理其底部的残渣，需要将吸取管道放入容器底部，但吸取管道在容器底部移动困难，且常规的运动机构或移动装置又难以进入容器，使得容器底部的吸取管道无法实现大范围的运动，吸取范围无法覆盖容器底部的全部区域，难以将容器底部的残渣清理干净。
发明内容
本申请的目的在于：利用吊装的方式将移动吸头放入容器底部，通过移动吸头自身的运动特性实现吸头在容器底部的大范围吸取，解决大深度容器底部残渣清理的难题。
本申请的技术方案是：提供了一种具有可移动吸头的容器底部残渣负压吸取系 统，该负压吸取系统至少包括吸尘收集装置、吸尘管道、移动装置以及移动吸头装置，移动装置的下方设置有移动吸头装置，吸尘收集装置通过吸尘管道连接于移动吸头装置，移动吸头装置包括：壳体，第一滑轮，第二滑轮，并联平行机构，钢丝绳以及吸头；壳体的上方设置有吊环，吊环连接于移动装置，壳体的下方设置有第一滑轮；并联平行机构由上平台、上端万向节、连杆、下端万向节以及下平台组成，上平台的上方设置有第二滑轮，上平台通过立柱连接于壳体的下方，上平台的下方设置有上端万向节，上端万向节通过连杆转动连接于下端万向节，下端万向节设置于下平台的上方，下平台的下方安装有吸头，吸头连接于吸尘管道，其中，连杆上设置有凸台；钢丝绳的一端连接于凸台，钢丝绳的另一端依次穿过第一滑轮、第二滑轮以及壳体后连接于移动装置，钢丝绳被移动装置拉伸或收缩以使并联平行机构在水平面内带动吸头移动。
上述任一项技术方案中，进一步地，壳体包括：上基板，侧立板，滑轨，滑轨连接块，下基板以及限位块；上基板的上方设置有吊环，上基板的下方固定设置有侧立板，侧立板的内侧设置有滑轨，滑轨上安装有滑轨连接块；下基板连接于滑轨连接块，下基板在滑轨连接块的带动下可以沿滑轨上下移动，下基板用于安装第一滑轮以及上平台；侧立板的底部设置有限位块，限位块用于对下基板进行限位。
上述任一项技术方案中，进一步地，上基板的一侧设置有上安装孔，下基板的一侧设置有下安装孔，上安装孔与下安装孔相对设置，上安装孔与下安装孔用于安装吸尘管道。
上述任一项技术方案中，进一步地，上基板的中心位置处设置有上钢丝绳通孔，下基板的中心位置处设置有下钢丝绳通孔，上钢丝绳通孔与下钢丝绳通孔用于使钢丝绳穿过壳体，壳体还包括：弹簧；弹簧的一端安装于上钢丝绳通孔的下方，弹簧的另一端安装于下钢丝绳通孔的上方，弹簧用于对下基板提供向下的推力。
上述任一项技术方案中，进一步地，移动吸头装置还包括：摄像头以及照明灯；摄像头和照明灯安装于下平台的下方，摄像头和照明灯与吸头平行设置。
上述任一项技术方案中，进一步地，移动装置至少包括吊臂和提升卷扬装置，吊臂上设置有滑车，提升卷扬装置安装于滑车上，提升卷扬装置至少包括：提升装置，驱动装置，卷线装置以及卷管装置；卷管装置的侧壁上设置有管道安装孔，管道安装 孔用于安装吸尘管道，以使吸尘管道缠绕在卷管装置的转轮上；提升装置上设置有提升电机、挂钩和挂绳，提升电机连接于挂钩的连接端，挂绳的一端连接于吊环，挂绳的另一端套设于挂钩的钩体，以使移动吸头装置吊装在挂钩上，提升装置用于提升或下放移动吸头装置；驱动装置至少包括驱动电机和钢丝绳夹块连接于钢丝绳，驱动电机用于带动钢丝绳夹块运动以实现钢丝绳的拉伸或收缩。
上述任一项技术方案中，进一步地，吸尘收集装置包括：固定支架，收集桶，旋风分离器，真空发生器；固定支架的上方安装有旋风分离器，旋风分离器的吸气口连接于吸尘管道，旋风分离器用于对通过吸尘管道吸入的残渣进行分离；真空发生器设置于旋风分离器的上方，真空发生器用于产生负压，以使吸尘收集装置通过吸尘管道和吸头吸取待清洁区域的残渣；收集桶设置于旋风分离器的下方，收集桶用于收集分离出的残渣。
上述任一项技术方案中，进一步地，吸尘收集装置还包括：顶升气缸；顶升气缸安装于固定支架与收集桶之间，顶升气缸用于顶起或降下收集桶，以使收集桶与旋风分离器分离。
上述任一项技术方案中，进一步地，吸尘收集装置还包括：气动蝶阀；气动蝶阀设置于收集桶与旋风分离器之间，气动蝶阀用于控制旋风分离器与收集桶之间的连通或断开。
上述任一项技术方案中，进一步地，吸尘收集装置还包括：消音器；消音器设置于真空发生器的排气口，消音器用于降低真空发生器产生的噪音。
本申请的有益效果是：
1.可在深度大入口狭窄的容器底部进行残渣清理。本发明提供的负压吸取系统，利用滑轮、钢丝绳、万向节以及连杆组成并联平行机构，使其能够进行球面平移运动，结合设置于下端的吸头，组成能实现三自由度运动的移动吸头装置，利用提升卷扬装置吊装，可以将移动吸头装置通过容器狭窄入口放入容器底部，然后利用移动吸头装置的运动特性，可实现容器底部较大范围的残渣清理。
2.可在辐射等特殊极端环境的容器中作业。本发明提供的负压吸取系统，吸尘收集装置、提升卷扬装置和移动吸头装置完全分离，通过吊装的方式将移动吸头装置放入容器底部，移动吸头装置中不含驱动部件，其运动结构为纯机械结构，可有效防止 在辐射环境中的失效问题。
附图说明
本申请的上述和/或附加方面的优点在结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请的一个实施例的具有可移动吸头的容器底部残渣负压吸取系统的示意图；
图2是根据本申请的一个实施例的移动吸头装置的详细结构示意图；
图3是根据本申请的一个实施例的移动吸头及其驱动装置的示意图；
图4是根据本申请的一个实施例的套管钢丝绳的示意图。
其中，1-吸尘与收集装置，11-固定支架，12-顶升气缸，13-收集桶，14-气动蝶阀，15-旋风分离器，16-真空发生器，17-消音器，2-吸尘管道，3-吊臂，4-提升卷扬装置，41-基础框架，42-提升装置，43-卷线装置，44-卷管装置，45-驱动装置，451-侧支板，452-驱动电机，453-联轴器，454-滑台，455-钢丝绳夹块，456-下支板，46-管线导向装置，47-挂钩，48-挂绳，5-移动吸头装置，501-吊环，502-上基板，503-侧立板，504-滑轨，505-弹簧，506-滑轨连接块，507-下基板，508-限位块，509-第一滑轮，510-第二滑轮，511-立柱，512-钢丝绳，513-柔性管道，514-吸尘接头，515-照明灯，516-摄像头，517-吸头，518-外罩，519-柔性套管，55-并联平行机构，551-上平台，552-上端万向节，553-连杆，554-下端万向节，555-下平台。
具体实施方式
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互结合。
在下面的描述中，阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
实施例一：
如图1所示，本实施例提供了一种具有可移动吸头的容器底部残渣负压吸取系统，该负压吸取系统至少包括吸尘收集装置1、吸尘管道2、移动装置以及移动吸头装置5，移动装置的下方设置有移动吸头装置5，吸尘收集装置1通过吸尘管道2连接于移动吸头装置5，其中，该移动装置可以由吊臂、提升电机等结构实现，以实现移动吸头装置5沿水平、竖直方向移动。
当移动吸头装置5移动至指定区域(如容器内部)后，吸尘收集装置1产生负压，容器内部的残渣沿吸尘管道2进入吸尘收集装置1，并进行分离与收集。
如图2所示，本实施例中，为了实现移动吸头装置5的三自由度运动，解决吸取范围无法覆盖容器底部的全部区域的问题，该移动吸头装置5包括：壳体，第一滑轮509，第二滑轮510，并联平行机构55，钢丝绳512以及吸头517；壳体的上方设置有吊环501，吊环501连接于移动装置，以便将移动吸头装置5吊装在移动装置的下方，使得移动吸头装置5随着移动装置进行水平、竖直方向移动。
本实施例中，该壳体的下方设置有第一滑轮509；并联平行机构55由上平台551、上端万向节552、连杆553、下端万向节554以及下平台555组成，上平台551的上方设置有第二滑轮510，上平台551通过立柱511连接于壳体的下方，上平台551的下方设置有上端万向节552，上端万向节552通过连杆553转动连接于下端万向节554，下端万向节554设置于下平台555的上方，下平台555的下方安装有吸头517，吸头517连接于吸尘管道2，其中，连杆553上设置有凸台；钢丝绳512的一端连接于凸台，钢丝绳512的另一端依次穿过第一滑轮509、第二滑轮510以及壳体后连接于移动装置，钢丝绳512被移动装置拉伸或收缩以使并联平行机构55在水平面内带动吸头517移动。
需要说明的是，本实施例中第一滑轮509、第二滑轮510、上端万向节552、连杆553、下端万向节554共有三组。
本实施例中，并联平行机构55包含上平台551、上端万向节552、连杆553、下端万向节554和下平台555，上平台551与下平台555之间有3个连杆553，每个连杆553两端各有一个万向节，连杆553与上平台551和下平台555之间分别通过上端万向节552和下端万向节554连接，各个连杆之间相互平行。当上平台551固定时，下平台555相对于上平台551做球面平移运动，且两平台始终保持平行。并联平行机 构55下端安装有吸尘接头514，吸尘接头514的最下端安装有吸头517，侧面连接柔性管道513，以便连通吸头517和吸尘管道2。
本实施例中，壳体包括：上基板502，侧立板503，滑轨504，滑轨连接块506，下基板507，限位块508以及外罩518；上基板502的上方设置有吊环501，上基板502的下方固定设置有侧立板503，侧立板503的内侧设置有滑轨504，滑轨504上安装有滑轨连接块506；下基板507连接于滑轨连接块506，下基板507在滑轨连接块506的带动下可以沿滑轨504上下移动，下基板507用于安装第一滑轮509以及上平台551；侧立板503的底部设置有限位块508，限位块508用于对下基板507进行限位；外罩518安装于侧立板503外侧，用于保护壳体内部结构。
具体的，壳体的主要支撑结构为上基板502和侧立板503，上基板502和侧立板503之间固定连接，上基板502上安装有吊环501，用于对移动吸头装置5进行吊装，上基板502沿中心附近均匀分布有3个钢丝绳通孔，侧立板503上沿竖直方向安装有直线滑轨504，直线滑轨504的滑块与下基板507通过滑轨连接块506相连，下基板507可沿着直线滑轨滑动，侧立板503最下方安装有限位块508，用于对下基板507进行限位，防止下基板脱离滑轨。下基板507沿中心附近也均匀分布有3个钢丝绳通孔，其位置与上基板502上的钢丝绳通孔位置相对应，以便钢丝绳穿过上基板502和下基板507。
下基板507下方通过若干立柱511安装有上述并联平行机构55，下基板507下方安装有第一滑轮509，并联平行机构55上端也安装有第二滑轮510，第一滑轮509和第二滑轮510共同组成一个滑轮组，移动吸头装置5中共有3个滑轮组。
进一步的，为了将吸尘管道2安装在壳体上，使得吸尘管道2随壳体一同移动，上基板502的一侧设置有上安装孔，下基板507的一侧设置有下安装孔，上安装孔与下安装孔相对设置，上安装孔与下安装孔用于安装吸尘管道2。
进一步的，为了保证吸头插入容器底部后有一定的缓冲能力，避免因误操作损坏容器该壳体中还设置有弹簧505，
具体的，上基板502的中心位置处设置有上钢丝绳通孔，下基板507的中心位置处设置有下钢丝绳通孔，上钢丝绳通孔与下钢丝绳通孔用于使钢丝绳512穿过壳体，壳体还包括：弹簧505；弹簧505的一端安装于上钢丝绳通孔的下方，弹簧505的另 一端安装于下钢丝绳通孔的上方，弹簧505用于对下基板507提供向下的推力。
在上述实施例的基础上，移动吸头装置5还包括：摄像头516以及照明灯515；摄像头516和照明灯515安装于下平台555的下方，摄像头516和照明灯515与吸头517平行设置，以便对吸头517的作业区域进行照明，便于操作人员进行控制。
实施例二：
在上述实施例的基础上，本实施例还示出了一种移动装置的实现方式，该移动装置至少包括吊臂3和提升卷扬装置4，如图1所示，吊臂3上设置有滑车，提升卷扬装置4安装于滑车上，提升卷扬装置4可实现移动吸头装置5在竖直方向上的移动，也能实现与移动吸头装置5相连接的吸尘管道2和其他相关线路的跟随运动，同时对相关的管道线路进行导向，提升卷扬装置4安装在吊臂3上，在吊臂3上可进行旋转和移动。
本实施例中，提升卷扬装置4至少包括：提升装置42，驱动装置45以及卷管装置44；卷管装置44的侧壁上设置有管道安装孔，管道安装孔用于安装吸尘管道2，以使吸尘管道2缠绕在卷管装置44的转轮上；提升装置42上设置有提升电机、挂钩47和挂绳48，提升电机连接于挂钩47的连接端，挂绳48的一端连接于吊环501，挂绳48的另一端套设于挂钩47的钩体，以使移动吸头装置5吊装在挂钩47上，提升装置42用于提升或下放移动吸头装置5；如图3所示，驱动装置45至少包括驱动电机452和钢丝绳夹块455连接于钢丝绳512，驱动电机452用于带动钢丝绳夹块455运动以实现钢丝绳512的拉伸或收缩。
具体的，提升卷扬装置4包含基础框架41、提升装置42、卷线装置43、卷管装置44、驱动装置45、管线导向装置46、挂钩47以及挂绳48等结构，其中，基础框架41是提升卷扬装置4的机架，其他各部分均安装在基础框架上。提升装置42用于吊装移动吸头装置5，通过挂钩47和挂绳48与移动吸头装置5相连，使其在竖直方向上运动，卷线装置43和卷管装置44分别用于收集吸尘管道2和套管钢丝绳、摄像头信号线等其他线路，保证提升卷扬装置4稳定运行，避免线路、吸尘管道2发生缠绕，管线导向装置46用于给卷线装置43和卷管装置44上的吸尘管道2和线路导向，保证其运动平稳。
驱动装置45是移动吸头装置5的驱动部件，用于驱动移动吸头装置5实现三自由度的运动。驱动装置45包含侧支板451、下支板456以及3个驱动装置，下支板456上有3个通孔，驱动装置45包含驱动电机452、联轴器453、滑台454和钢丝绳夹块455，钢丝绳夹块455安装在滑台454上，驱动电机452通过联轴器453带动滑台454滑动。
此时，钢丝绳夹块455随着滑台454同时运动，且钢丝绳夹块455上夹装有钢丝绳512，因此，通过控制驱动电机452的运动，可实现钢丝绳512的拉伸或收缩。
当钢丝绳512拉伸或收缩时，与其相连的连杆553将在上端万向节552和下端万向节554的作用下，使得并联平行机构55的下平台555做相对球面平移运动，对指定区域(如容器内部)的残渣进行负压吸取，解决吸取范围无法覆盖容器底部的全部区域的问题。
实施例三：
在上述实施例的基础上，本实施例还示出了一种吸尘收集装置1的实现方式，如图1所示，该吸尘收集装置1包括：固定支架11，收集桶13，旋风分离器15，真空发生器16；固定支架11是吸尘收集装置1的机架，固定支架11的上方安装有旋风分离器15，旋风分离器15的吸气口连接于吸尘管道2，旋风分离器15用于对通过吸尘管道2吸入的残渣进行分离；真空发生器16设置于旋风分离器15的上方，真空发生器16用于产生负压，以使吸尘收集装置1通过吸尘管道2和吸头517吸取待清洁区域的残渣；收集桶13设置于旋风分离器15的下方，收集桶13用于收集分离出的残渣。
具体的，旋风分离器15与吸尘管道2的一端相连，吸尘管道2的另一端连接到提升卷扬装置4，通过提升卷扬装置4再延伸至与移动吸头装置5相连，提升卷扬装置4安装在吊臂3的滑车上，可在吊臂3上进行旋转和移动。
进一步的，吸尘收集装置1还包括：顶升气缸12；顶升气缸12安装于固定支架11与收集桶13之间，顶升气缸12用于顶起或降下收集桶13，以使收集桶13与旋风分离器15分离。
具体的，固定支架11底部安装有顶升气缸12，顶升气缸12上方放置收集桶13。 在进行残渣吸取作业时，顶升气缸12可将收集桶13向上顶起，以便将收集桶13安装在旋风分离器15的下方；完成残渣吸取作业后，顶升气缸12可将收集桶13向下降下，以便将收集桶13从旋风分离器15上拆下，清除收集桶13内收集的残渣。
进一步的，吸尘收集装置1还包括：气动蝶阀14；气动蝶阀14设置于收集桶13与旋风分离器15之间，气动蝶阀14用于控制旋风分离器15与收集桶13之间的连通或断开。
具体的，旋风分离器15底部安装气动蝶阀14，气动蝶阀14用于对旋风分离器15底部进行开合，其下端与收集桶13的入口对齐，通过顶升气缸12使收集桶13与气动蝶阀14下端紧密连接，当收集桶13收集满时，关闭气动蝶阀14，顶升气缸12下降，更换收集桶，然后顶升气缸12上升，打开气动蝶阀14，可继续对残渣进行吸取与收集。
优选的，吸尘收集装置1还包括：消音器17；消音器17设置于真空发生器16的排气口，消音器17用于降低真空发生器16产生的噪音。
实施例四：
在上述实施例的基础上，该负压吸取系统包含吸尘收集装置1、吸尘管道2、吊臂3、提升卷扬装置4和移动吸头装置5，吸尘收集装置1用于产生真空负压以吸取残渣，同时将吸取的残渣进行分离与收集，吸尘收集装置1通过吸尘管道2与移动吸头装置5相连，移动吸头装置5吊装在提升卷扬装置4的下方，在驱动装置的驱动下可实现三自由度的运动，驱动装置安装在提升卷扬装置4内部，提升卷扬装置4可实现移动吸头装置5在竖直方向上的移动，也能实现与移动吸头装置5相连接的吸尘管道2和其他相关线路的跟随运动，同时对相关的管道线路进行导向，提升卷扬装置4安装在吊臂3上，在吊臂3上可进行旋转和移动。
本实施例中，吸尘收集装置1包含固定支架11、顶升气缸12、收集桶13、气动蝶阀14、旋风分离器15、真空发生器16和消音器17，固定支架11是吸尘收集装置1的机架，固定支架11底部安装有顶升气缸12，顶升气缸12上方放置收集桶13，顶升气缸12可将收集桶13向上顶起，旋风分离器15安装在固定支架11的上端，旋风分离器15用于对残渣进行分离，其上安装有真空发生器16，真空发生器16用于 产生负压，真空发生器16与消音器17连接，消音器17是装置内气体的出口，并减少气体排出时的噪音，旋风分离器15底部安装气动蝶阀14，气动蝶阀14用于对旋风分离器15底部进行开合，其下端与收集桶13的入口对齐，通过顶升气缸12使收集桶13与气动蝶阀14下端紧密连接，当收集桶13收集满时，关闭气动蝶阀14，顶升气缸12下降，更换收集桶，然后顶升气缸12上升，打开气动蝶阀14，可继续对残渣进行吸取与收集。
本实施例中，旋风分离器15与吸尘管道2的一端相连，吸尘管道2的另一端连接到提升卷扬装置4，通过提升卷扬装置4再延伸至与移动吸头装置5相连，提升卷扬装置4安装在吊臂3的滑车上，可在吊臂3上进行旋转和移动。提升卷扬装置4包含基础框架41、提升装置42、卷线装置43、卷管装置44、驱动装置45、管线导向装置46、挂钩47以及挂绳48等结构，其中，基础框架41是提升卷扬装置4的机架，其他各部分均安装在基础框架上。提升装置42用于吊装移动吸头装置5，通过挂钩47和挂绳48与移动吸头装置5相连，使其在竖直方向上运动，卷线装置43和卷管装置44分别用于收集吸尘管道2和套管钢丝绳、摄像头信号线等其他线路，管线导向装置46用于给卷线装置43和卷管装置44上的吸尘管道2和线路导向，保证其运动平稳。
驱动装置45是移动吸头装置5的驱动部件，用于驱动移动吸头装置5实现三自由度的运动。驱动装置45包含侧支板451、下支板456以及3个驱动装置，下支板456上有3个通孔，驱动装置45包含驱动电机452、联轴器453、滑台454和钢丝绳夹块455，钢丝绳夹块455安装在滑台454上，驱动电机452通过联轴器453带动滑台454滑动。
对于本实施例中的移动吸头装置5，其主要支撑结构为上基板502和侧立板503，上基板502和侧立板503之间固定连接，上基板502上安装有吊环501，用于对移动吸头装置5进行吊装，上基板502沿中心附近均匀分布有3个钢丝绳通孔，侧立板503上沿竖直方向安装有直线滑轨504，直线滑轨504的滑块与下基板507通过滑轨连接块506相连，下基板507可沿着直线滑轨滑动，侧立板503最下方安装有限位块508，用于对下基板507进行限位，防止下基板脱离滑轨。下基板507沿中心附近也均匀分布有3个钢丝绳通孔，其位置与上基板502上的钢丝绳通孔位置相对应。下基 板507下方通过若干立柱511安装有上述并联平行机构55，并联平行机构55与下基板507之间通过若干立柱511进行固定连接。
下基板507下方安装有第一滑轮509，并联平行机构55上端也安装有第二滑轮510，第一滑轮509和第二滑轮510共同组成一个滑轮组，移动吸头装置5中共有3个滑轮组。并联平行机构55包含上平台551、上端万向节552、连杆553、下端万向节554和下平台555，上平台551与下平台555之间有3个连杆553，每个连杆553两端各有一个万向节，连杆553与上平台551和下平台555之间分别通过上端万向节552和下端万向节554连接，各个连杆之间相互平行。当上平台551固定时，下平台555相对于上平台551做球面平移运动，且两平台始终保持平行。并联平行机构55下端安装有吸尘接头514，吸尘接头514的最下端安装有吸头517，侧面连接柔性管道513，并联机构的下端还安装有摄像头516和照明灯515。
本实施例中，并联平行机构55的每个连杆553上都存在一个凸台，钢丝绳512连接凸台后，先绕过第一滑轮509，再绕过第二滑轮510，然后分别穿过壳体的下基板507和上基板502的钢丝绳通孔，连接至移动装置中的驱动装置45，钢丝绳512与驱动装置45连接时，钢丝绳512先穿过驱动装置45的下支板456的通孔，再连接到钢丝绳夹块455上。上基板502和下基板507之间的钢丝绳上均套有弹簧505，弹簧505对上基板502和下基板507都产生一定的推力，使上基板502和下基板507之间存在分离趋势，当钢丝绳512上无作用力时，下基板507沿滑轨504运动至最下端，被限位块508所限位。
本实施例中，钢丝绳512的具体连接方式为：钢丝绳512一端连接在并联平行机构55的连杆553凸台上，另一端连接到驱动装置的钢丝绳夹块455上，钢丝绳512在移动吸头装置5的上基板502和驱动装置45的下支板456之间的运动段存在柔性套管519，钢丝绳512以柔性套管519为通道，在此柔性套管内运动，如图4所示。当驱动装置45内的驱动电机452转动时，带动滑台454运动从而使钢丝绳512运动，当驱动装置45内的驱动装置带动三根钢丝绳协同运动时，并联平行机构55在钢丝绳的拉力作用下开始运动，从而使并联平行机构55的下平台555实现三自由度的平移运动。
以上结合附图详细说明了本申请的技术方案，本申请提出了一种具有可移动吸头的容器底部残渣负压吸取系统，该负压吸取系统至少包括吸尘收集装置、吸尘管道、移动装置以及移动吸头装置，移动装置的下方设置有移动吸头装置，吸尘收集装置通过吸尘管道连接于移动吸头装置，移动吸头装置包括：壳体，第一滑轮，第二滑轮，并联平行机构，钢丝绳以及吸头；壳体的上方设置有吊环，吊环连接于移动装置，壳体的下方设置有第一滑轮；并联平行机构由上平台、上端万向节、连杆、下端万向节以及下平台组成，上平台的上方设置有第二滑轮，上平台通过立柱连接于壳体的下方，上平台的下方设置有上端万向节，上端万向节通过连杆转动连接于下端万向节，下端万向节设置于下平台的上方，下平台的下方安装有吸头，吸头连接于吸尘管道，其中，连杆上设置有凸台；钢丝绳的一端连接于凸台，钢丝绳的另一端依次穿过第一滑轮、第二滑轮以及壳体后连接于移动装置，钢丝绳被移动装置拉伸或收缩以使并联平行机构在水平面内带动吸头移动。通过本申请中的技术方案，实现了移动吸头装置在三自由度运动，解决了吸取范围无法覆盖容器底部的全部区域的问题。
在本申请中，术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
附图中的各个部件的形状均是示意性的，不排除与其真实形状存在一定差异，附图仅用于对本申请的原理进行说明，并非意在对本申请进行限制。
尽管参考附图详地公开了本申请，但应理解的是，这些描述仅仅是示例性的，并非用来限制本申请的应用。本申请的保护范围由附加权利要求限定，并可包括在不脱离本申请保护范围和精神的情况下针对发明所作的各种变型、改型及等效方案。

Claims (9)

  1. 一种具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，该负压吸取系统至少包括吸尘收集装置(1)、吸尘管道(2)、移动装置以及移动吸头装置(5)，所述移动装置的下方设置有所述移动吸头装置(5)，所述吸尘收集装置(1)通过所述吸尘管道(2)连接于所述移动吸头装置(5)，所述移动吸头装置(5)包括：壳体，第一滑轮(509)，第二滑轮(510)，并联平行机构(55)，钢丝绳(512)以及吸头(517)；
    所述壳体的上方设置有吊环(501)，所述吊环(501)连接于所述移动装置，所述壳体的下方设置有所述第一滑轮(509)；
    所述并联平行机构(55)由上平台(551)、上端万向节(552)、连杆(553)、下端万向节(554)以及下平台(555)组成，所述上平台(551)的上方设置有所述第二滑轮(510)，所述上平台(551)通过立柱(511)连接于所述壳体的下方，所述上平台(551)的下方设置有所述上端万向节(552)，所述上端万向节(552)通过所述连杆(553)转动连接于所述下端万向节(554)，所述下端万向节(554)设置于所述下平台(555)的上方，所述下平台(555)的下方安装有所述吸头(517)，所述吸头(517)连接于所述吸尘管道(2)，其中，所述连杆(553)上设置有凸台；
    所述钢丝绳(512)的一端连接于所述凸台，所述钢丝绳(512)的另一端依次穿过所述第一滑轮(509)、所述第二滑轮(510)以及所述壳体后连接于所述移动装置，所述钢丝绳(512)被所述移动装置拉伸或收缩以使所述并联平行机构(55)在水平面内带动所述吸头(517)移动，
    其中，所述移动装置至少包括吊臂(3)和提升卷扬装置(4)，所述吊臂(3)上设置有滑车，所述提升卷扬装置(4)安装于所述滑车上，所述提升卷扬装置(4)至少包括：提升装置(42)，驱动装置(45)以及卷管装置(44)；
    所述卷管装置(44)的侧壁上设置有管道安装孔，所述管道安装孔用于安装所述吸尘管道(2)，以使所述吸尘管道(2)缠绕在所述卷管装置(44)的转轮上；
    所述提升装置(42)上设置有提升电机、挂钩(47)和挂绳(48)，所述提升电机连接于所述挂钩(47)的连接端，所述挂绳(48)的一端连接于所述吊环(501)，所述挂绳(48)的另一端套设于所述挂钩(47)的钩体，以使所述移动吸头装置(5)吊装在所述挂钩(47)上，所述提升装置(42)用于提升或下放所述移动吸头装置(5)；
    所述驱动装置(45)至少包括驱动电机(452)和钢丝绳夹块(455)连接于所述钢丝绳(512)，所述驱动电机(452)用于带动所述钢丝绳夹块(455)运动以实现所述钢丝绳(512)的拉伸或收缩。
  2. 如权利要求1所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述壳体包括：上基板(502)，侧立板(503)，滑轨(504)，滑轨连接块(506)，下基板(507)以及限位块(508)；
    所述上基板(502)的上方设置有所述吊环(501)，所述上基板(502)的下方固定设置有所述侧立板(503)，所述侧立板(503)的内侧设置有所述滑轨(504)，所述滑轨(504)上安装有所述滑轨连接块(506)；
    所述下基板(507)连接于所述滑轨连接块(506)，所述下基板(507)在所述滑轨连接块(506)的带动下可以沿所述滑轨(504)上下移动，所述下基板(507)用于安装所述第一滑轮(509)以及所述上平台(551)；
    所述侧立板(503)的底部设置有所述限位块(508)，所述限位块(508)用于对所述下基板(507)进行限位。
  3. 如权利要求2所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述上基板(502)的一侧设置有上安装孔，所述下基板(507)的一侧设置有下安装孔，所述上安装孔与所述下安装孔相对设置，所述上安装孔与所述下安装孔用于安装所述吸尘管道(2)。
  4. 如权利要求2所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述上基板(502)的中心位置处设置有上钢丝绳通孔，所述下基板(507)的中心位置处设置有下钢丝绳通孔，所述上钢丝绳通孔与所述下钢丝绳通孔用于使所述钢丝绳(512)穿过所述壳体，所述壳体还包括：弹簧(505)；
    所述弹簧(505)的一端安装于所述上钢丝绳通孔的下方，所述弹簧(505)的另一端安装于所述下钢丝绳通孔的上方，所述弹簧(505)用于对所述下基板(507)提供向下的推力。
  5. 如权利要求1至4中任一项所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述移动吸头装置(5)还包括：摄像头(516)以及照明灯(515)；
    所述摄像头(516)和所述照明灯(515)安装于所述下平台(555)的下方，所述摄像头(516)和所述照明灯(515)与所述吸头(517)平行设置。
  6. 如权利要求1所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述吸尘收集装置(1)包括：固定支架(11)，收集桶(13)，旋风分离器(15)，真空发生器(16)；
    所述固定支架(11)的上方安装有所述旋风分离器(15)，所述旋风分离器(15)的吸气口连接于所述吸尘管道(2)，所述旋风分离器(15)用于对通过所述吸尘管道(2)吸入的残渣进行分离；
    所述真空发生器(16)设置于所述旋风分离器(15)的上方，所述真空发生器(16)用于产生负压，以使所述吸尘收集装置(1)通过所述吸尘管道(2)和所述吸头(517)吸取待清洁区域的残渣；
    所述收集桶(13)设置于所述旋风分离器(15)的下方，所述收集桶(13)用于收集分离出的残渣。
  7. 如权利要求6所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述吸尘收集装置(1)还包括：顶升气缸(12)；
    所述顶升气缸(12)安装于所述固定支架(11)与所述收集桶(13)之间，所述顶升气缸(12)用于顶起或降下所述收集桶(13)，以使所述收集桶(13)与所述旋风分离器(15)分离。
  8. 如权利要求7所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述吸尘收集装置(1)还包括：气动蝶阀(14)；
    所述气动蝶阀(14)设置于所述收集桶(13)与所述旋风分离器(15)之间，所述气动蝶阀(14)用于控制所述旋风分离器(15)与所述收集桶(13)之间的连通或断开。
  9. 如权利要求6所述的具有可移动吸头的容器底部残渣负压吸取系统，其特征在于，所述吸尘收集装置(1)还包括：消音器(17)；
    所述消音器(17)设置于所述真空发生器(16)的排气口，所述消音器(17)用于降低所述真空发生器(16)产生的噪音。
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