Screw drive type modular joint robot for cleaning ash discharging opening of ash silo

Abstract

The invention belongs to the technical field of cleaning devices, and particularly relates to a screw drive type modular joint robot for cleaning an ash discharging opening of an ash silo, which comprises a base flange connected with the side wall of the ash discharging opening of the ash silo, and the base flange is connected with a robot mechanism. The robot mechanism is composed of a driving assembly, transmission joints, a steering assembly and a cleaning unit, the driving assembly is connected with the base flange, the transmission joints and the steering assembly are arranged in groups and are in transmission connection with the driving assembly, and the cleaning unit is arranged at the transmission joint at the foremost end; by means of the robot mechanism, when accumulated ash at the ash discharging opening of the ash silo is cleaned, the robot mechanism is more suitable for the structural size of the ash silo, the cleaning efficiency and effect are improved, and meanwhile the cleaning angle and orientation can be conveniently adjusted.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning devices, and in particular relates to a spiral transmission type modular articulated robot for cleaning an ash outlet of an ash bin. Background Art

[0002] At present, in thermal power generating units, a large amount of fly ash is generated during the coal-fired power generation process and is temporarily stored in an ash bin after a series of purification treatments. The fly ash stored in the ash bin is extremely susceptible to moisture, causing it to become compacted and bridged on the inner wall, which seriously restricts the safe operation of the thermal power units. The traditional manual ash cleaning operation mode generally has prominent problems such as long operation cycle, low efficiency, and potential risks.

[0003] Common cleaning equipment is aimed at the problem of blockage at the ash outlet of the fly ash silo. Most of them are composed of a telescopic rod, two rotary joints and a terminal cleaning mechanism. The telescopic rod adopts a multi-level nested box-type arm structure, and is synchronously extended and retracted by a rope drive mechanism. The extension direction is parallel to the height direction of the ash silo, covering the full height of the inner wall of the ash silo. The two rotary joints provide horizontal and vertical freedom of movement to ensure that the robot covers the interior of the ash silo. The terminal cleaning mechanism consists of a flexible ash beating rope and a high-speed drum. The flexible rope beats or the drum rotates to scrape the silo wall to remove compacted dry ash. It is suitable for cleaning light to moderate ash accumulation. The control module is electrically connected to the actuator to achieve coordinated movement of the telescopic rod and rotary joint, and perform trajectory planning to ensure continuous and smooth displacement, speed, and acceleration of each joint. However, this robot has problems such as inconvenient installation on the top of the silo, long single cleaning cycle, high maintenance cost, and application of a single silo. Summary of the Invention

[0004] The purpose of the present invention is to provide a spiral transmission modular articulated robot for cleaning the ash outlet of an ash bin, so as to solve the problems mentioned in the background technology.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are as follows:

[0006] A spiral transmission modular articulated robot for cleaning the lower ash opening of an ash silo, comprising a base flange connected to a side wall of the lower ash opening of the ash silo, wherein the base flange is connected to a robot mechanism;

[0007] The robot mechanism consists of a drive assembly, a transmission joint, a steering assembly and a cleaning unit. The drive assembly is connected to the base flange. The transmission joint and the steering assembly are arranged in a group and are transmission-connected to the drive assembly. The cleaning unit is located at the front end of the transmission joint.

[0008] The drive assembly consists of a shaft nut, an axial conveying group and an angle adjustment group, the angle adjustment group is connected to the base flange and corresponds to the opening channel of the base flange, the axial conveying group is connected to the angle adjustment group and is located between the base flange and the angle adjustment group, and the shaft nut is connected to the axial conveying group;

[0009] The transmission joint consists of a threaded joint and a connecting piece, the connecting piece is connected to the threaded joint, the steering assembly is arranged on the connecting piece, and the cleaning unit is connected to the frontmost connecting piece.

[0010] The angle adjustment group consists of a turntable bearing seat, a first motor and a swing bracket. The turntable bearing seat is connected to the base flange, the first motor is connected to the turntable bearing seat, and the swing bracket is connected to the output shaft of the first motor.

[0011] The axial conveying group consists of a second motor and a hollow rotating platform. The hollow rotating platform is connected to a swing bracket. The second motor is connected to the hollow rotating platform through a bracket. The swing bracket is also connected to a slide rail seat corresponding to the hollow rotating platform channel.

[0012] The standard combination of a single transmission joint consists of two threaded joints and a connecting piece, and the connecting piece consists of a joint connecting seat and a motor connecting rod seat. The joint connecting seat and the motor connecting rod seat are respectively connected to the two threaded joints, and the steering assembly is arranged between the joint connecting seat and the motor connecting rod seat.

[0013] A corrugated sleeve for sleeve-mounting the connecting piece and the steering assembly is provided between the two threaded joints.

[0014] The head-to-tail spacing between two adjacent threaded joints is smaller than the length of the shaft nut.

[0015] The steering assembly consists of a torque motor, a reducer, a rotating shaft end connecting rod and a motor side connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are respectively connected to the joint connecting seat and the motor connecting rod seat. The reducer is arranged on the motor side connecting rod. The torque motor is matched with the reducer in transmission connection. The output shaft of the reducer is in transmission connection with the rotating shaft end connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are rotatably embedded in each other.

[0016] The inner ring sides of the slide rail seat and the threaded joint are both provided with a protruding key, and the outer side of the threaded joint, the side of the joint connection seat and the side of the motor connecting rod seat are all provided with a key slot that matches the corresponding connecting piece.

[0017] Compared with the prior art, the present invention has at least the following advantages:

[0018] Through the robot mechanism, the present application can be more adapted to the structural volume of the ash bin when cleaning the accumulated ash at the ash outlet below the ash bin, thereby improving the cleaning efficiency and effect, and can also facilitate the cleaning angle and direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention is further illustrated by means of the following non-limiting examples.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a schematic diagram of the exploded structure of the drive assembly of the present invention.

[0022] Figure 3 This is a schematic exploded view of the drive assembly of the present invention from another angle.

[0023] Figure 4 It is a structural schematic diagram of the transmission joint and steering assembly of the present invention.

[0024] Figure 5 This is a schematic structural diagram of the transmission joint and steering assembly from another angle of the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of multiple robots combined in the present invention.

[0026] Ash bin 1, base flange 11, shaft nut 2, threaded joint 3, turntable bearing seat 4, first motor 41, swing bracket 42, second motor 5, hollow rotating platform 51, slide rail seat 52, joint connection seat 6, motor connecting rod seat 61, corrugated sleeve 62, torque motor 7, reducer 71, shaft end connecting rod 72, motor side connecting rod 73, bump key 8, keyway 81, cleaning unit 9. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0028] like Figure 1-6 As shown, a spiral transmission modular articulated robot for cleaning the ash outlet of the ash silo comprises a base flange connected to the side wall of the ash outlet of the ash silo, and a robot mechanism is connected to the base flange;

[0029] The robot mechanism consists of a drive assembly, a transmission joint, a steering assembly, and a cleaning unit. The drive assembly is connected to the base flange, the transmission joint and the steering assembly are arranged in a group and are transmission-connected to the drive assembly, and the cleaning unit is located at the front-end transmission joint.

[0030] The driving assembly is composed of a shaft nut, an axial conveying group and an angle adjusting group. The angle adjusting group is connected with the base flange and corresponds to the open channel of the base flange. The axial conveying group is connected with the angle adjusting group and located between the base flange and the angle adjusting group. The shaft nut is connected with the axial conveying group.

[0031] The transmission joint is composed of a threaded joint and a connecting piece. The connecting piece is connected with the threaded joint. The steering assembly is arranged on the connecting piece. The cleaning unit is connected with the connecting piece at the front end.

[0032] When the fixed structure connecting the device and the ash storage is installed, the base flange is connected with the cleaning port of the ash storage to form a cleaning window. The angle adjusting group of the driving device is connected with the base flange to form a first support. The axial conveying group is directly connected with the angle adjusting group. The shaft nut is installed in the axial conveying group and can rotate with the axial conveying group. The shaft nut is a hollow circular tube structure as a whole, and the inner wall is provided with threads. In this way, the axial conveying group can send the transmission joint and the cleaning unit assembled in the shaft nut into the ash storage by rotating the shaft nut. The extension and retraction movement of the cleaning unit can be realized by controlling the rotation of the shaft nut by the axial conveying group. The angle adjusting group can be used to directly adjust the forward conveying direction of the axial conveying group, so that the cleaning unit can adjust the up-down angle. Further, the steering assembly is arranged in the connecting piece of the transmission joint, which can control the left-right angle of the single transmission joint. Thus, the cleaning robot can realize high-flexibility cleaning orientation adjustment in the narrow space of the ash storage through the driving assembly and the steering assembly. In fact, since the axial conveying group is directly connected with the angle adjusting group, and the transmission is realized through the shaft nut, the interruption of axial transmission caused by the change of cleaning direction can be avoided, that is, the cleaning needs of different ash storage positions and depths can be met.

[0033] It is worth noting that the cleaning unit in this application uses a jet knife head for cleaning, which is connected with the threaded joint at the front end. The gas supply pipeline passes through the inner hole area of the assembled transmission joint, so that the wire harness can be avoided.

[0034] The angle adjusting group is composed of a rotary table bearing seat, a first motor and a swing bracket. The rotary table bearing seat is connected with the base flange. The first motor is connected with the rotary table bearing seat. The swing bracket is connected with the output shaft of the first motor.

[0035] The axial conveying group is composed of a second motor and a hollow rotating platform. The hollow rotating platform is connected with the swing bracket. The second motor is connected with the hollow rotating platform through a bracket. The swing bracket is also connected with a slide rail seat corresponding to the channel of the hollow rotating platform.

[0036] When assembling the device, the output shaft of the first motor on the turntable bearing seat is transmission-connected to the swing bracket, and is supported by the ball bearing. The swing bracket can be controlled by the rotation of the first motor to drive the entire hollow rotating platform to flip, thereby achieving an inclination angle relative to the axis direction of the ash bin. In some embodiments, the turntable bearing seat can be symmetrically installed on the left and right sides of the base flange, and the first motor is fixed to the motor bracket connected to the turntable bearing seat by connecting screws. The outer neck of the first motor transmission shaft cooperates with the inner diameter of the hollow bosses on both sides of the swing bracket and is connected through the inner ring of the ball bearing to complete the connection and angle adjustment of the hollow rotating platform.

[0037] The hollow rotating platform is a transmission device consisting of a reducer and a hollow turntable. The second motor is a servo motor and its transmission shaft is connected to the reducer at the tail of the hollow rotating platform through a locking ring and the bearing is assembled into the hole. In this way, the reducer flexible wheel is driven by the second motor, and when the steel wheel is fixed, the harmonic generator outputs rotation and drives the hollow turntable to rotate. The hollow turntable is connected to the shaft nut through a positioning pin to achieve rotation drive, and the slide rail seat is fixedly connected to the swing bracket. For the space-constrained ash mouth environment, this structure can ensure the stability of the shaft nut spiral transmission drive mechanism. At the same time, for those skilled in the art, the setting of the reducer and the rotation of the cylindrical structure of the drive shaft nut are understandable and replaceable. Therefore, this application does not limit the implementation method, and does not make too many technical details.

[0038] The standard combination of a single transmission joint consists of two threaded joints and a connecting piece. The connecting piece consists of a joint connecting seat and a motor connecting rod seat. The joint connecting seat and the motor connecting rod seat are respectively connected to the two threaded joints, and the steering assembly is arranged between the joint connecting seat and the motor connecting rod seat.

[0039] A corrugated sleeve for sleeve-mounting the connecting piece and the steering assembly is provided between the two threaded joints.

[0040] The head-to-tail spacing between two adjacent thread joints is less than the length of the shaft nut.

[0041] The threaded joint has an overall annular structure and the threaded surface is arranged on the outside of the threaded joint. The central opening of the threaded joint is rectangular. During assembly, the joint connection seat and the motor connecting rod seat are respectively connected to the hollow openings of the two threaded joints. The joint connection seat and the motor connecting rod seat cooperate with the steering assembly to realize the connection between the two threaded joints. The angle direction of the threaded joint can be adjusted by the steering assembly. At the same time, the hollow opening of the threaded joint can meet the connection of components while also meeting the passage of pipelines such as air pipes and cables, avoiding the entanglement of external pipelines.

[0042] The head-to-tail distance between the two threaded joints is smaller than the length of the shaft nut. In this way, when the first threaded joint is conveyed until the shaft nut is output, the other threaded joint on the adjacent rear side will be pushed into the transmission range of the shaft nut, which can ensure continuous and stable driving.

[0043] The provision of the corrugated sleeve can shield and seal the overall structure without affecting the conveying and angle adjustment of the threaded joint.

[0044] The steering assembly consists of a torque motor, a reducer, a rotating shaft end connecting rod and a motor side connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are respectively connected to the joint connecting seat and the motor connecting rod seat. The reducer is arranged on the motor side connecting rod. The torque motor is matched with the reducer in transmission connection. The output shaft of the reducer is transmission connected to the rotating shaft end connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are rotatably embedded in each other.

[0045] In the steering assembly, the shaft end connecting rod and the motor side connecting rod cooperate with the joint connecting seat and the motor connecting rod seat to form a connection combination of two threaded joints to form a single-segment robot, wherein the transmission shaft of the torque motor cooperates with the reducer to output steering, and the front and rear of the motor side connecting rod are respectively connected to the rigid wheel of the reducer and the motor connecting rod seat by connecting screws, wherein the reducer and the motor connecting rod seat are matched with an embedded matching connection, the output shaft of the torque motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the shaft end connecting rod by screws, the steel wheel of the reducer is fixed, and the reducer uses a harmonic reducer. When the robot pushes the ash bin When steering is required, the torque motor output shaft outputs rotational force through the reducer, so that the connecting rod at the shaft end outputs high torque at low speed. Compared with traditional motor drive, it is suitable for higher load scenarios and realizes high-precision control by deceleration through the wave generator, preventing the propulsion mechanism such as the jet cutter head and the head end machine unit from deviating from the motion path. The overall modular design has a simple structure but good control and synchronization, making the overall structure of the robot more compact. There is no need for an external drive unit to control the steering. When the torque motor rotates, the harmonic reducer wheel does not move, and the wave generator output rotates, driving the connecting rod at the shaft end to complete the angle adjustment of the robot arm.

[0046] The inner ring sides of the threaded joint and the slide rail seat are both provided with a convex key, and the outer side of the threaded joint, the side of the joint connection seat and the side of the motor connecting rod seat are all provided with a keyway matching the corresponding connecting piece.

[0047] The convex key and keyway provided on the rotating member and the corresponding connecting member can be connected and matched with each other to achieve stable connection, rapid positioning and conveying limit guide. For example, the convex key provided on the slide rail seat can be engaged with the keyway on the outside of the threaded joint when supporting the threaded joint for conveying. In this way, when the shaft nut rotates to drive the threaded joint, the threaded joint can only maintain axial movement and avoid self-rotation.

[0048] The keyways on the key connection seat and the motor connecting rod seat can match the protruding keys set on the threaded joint, forming a stable connection and quick alignment effect.

[0049] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A spiral-driven modular articulated robot for cleaning the lower ash outlet of an ash silo, comprising a base flange connected to the side wall of the lower ash outlet of an ash silo, characterized in that: The base flange is connected to a robot mechanism; The robot mechanism consists of a drive assembly, a transmission joint, a steering assembly and a cleaning unit. The drive assembly is connected to the base flange. The transmission joint and the steering assembly are arranged in a group and are transmission-connected to the drive assembly. The cleaning unit is located at the front end of the transmission joint. The drive assembly consists of a shaft nut, an axial conveying group and an angle adjustment group, the angle adjustment group is connected to the base flange and corresponds to the opening channel of the base flange, the axial conveying group is connected to the angle adjustment group and is located between the base flange and the angle adjustment group, and the shaft nut is connected to the axial conveying group; The transmission joint consists of a threaded joint and a connecting piece, the connecting piece is connected to the threaded joint, the steering assembly is arranged on the connecting piece, and the cleaning unit is connected to the frontmost connecting piece.

2. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 1, characterized in that: The angle adjustment group consists of a turntable bearing seat, a first motor and a swing bracket. The turntable bearing seat is connected to the base flange, the first motor is connected to the turntable bearing seat, and the swing bracket is connected to the output shaft of the first motor.

3. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 2, characterized in that: The axial conveying group consists of a second motor and a hollow rotating platform. The hollow rotating platform is connected to a swing bracket. The second motor is connected to the hollow rotating platform through a bracket. The swing bracket is also connected to a slide rail seat corresponding to the hollow rotating platform channel.

4. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 3, characterized in that: The standard combination of a single transmission joint consists of two threaded joints and a connecting piece, and the connecting piece consists of a joint connecting seat and a motor connecting rod seat. The joint connecting seat and the motor connecting rod seat are respectively connected to the two threaded joints, and the steering assembly is arranged between the joint connecting seat and the motor connecting rod seat.

5. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 4, characterized in that: A corrugated sleeve for sleeve-mounting the connecting piece and the steering assembly is provided between the two threaded joints.

6. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 5, characterized in that: The head-to-tail spacing between two adjacent threaded joints is smaller than the length of the shaft nut.

7. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 6, characterized in that: The steering assembly consists of a torque motor, a reducer, a rotating shaft end connecting rod and a motor side connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are respectively connected to the joint connecting seat and the motor connecting rod seat. The reducer is arranged on the motor side connecting rod. The torque motor is matched with the reducer in transmission connection. The output shaft of the reducer is in transmission connection with the rotating shaft end connecting rod. The rotating shaft end connecting rod and the motor side connecting rod are rotatably embedded in each other.

8. The spiral transmission modular articulated robot for cleaning the ash outlet of an ash silo according to claim 7, characterized in that: The inner ring sides of the slide rail seat and the threaded joint are both provided with a protruding key, and the outer side of the threaded joint, the side of the joint connection seat and the side of the motor connecting rod seat are all provided with a key slot that matches the corresponding connecting piece.

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