A fully automatic visual cement warehouse cleaning device
The fully automatic visual cement silo cleaning device solves the problems of high risk and incomplete cleaning of cement silos, achieving fully automated, safe and efficient cleaning results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHENGZHOU UNIV
- Filing Date
- 2021-03-18
- Publication Date
- 2026-05-12
AI Technical Summary
Existing cement silo cleaning equipment suffers from problems such as high risk of manual cleaning, low efficiency, incomplete cleaning, and secondary dust generation, especially in areas below the discharge silo where effective cleaning is difficult.
A fully automatic visual cement silo cleaning device was designed, including a hoisting mechanism, a support mechanism, a lowering and rotating mechanism, and a cleaning mechanism. It adopts an aluminum alloy thin-walled telescopic arm, a servo electric cylinder, an infrared camera, and a PLC control system to realize the automation, stable support, and cleaning of the device, which can clean 360° inside the cement silo.
It achieves fully automated cleaning of cement silos, with high safety, comprehensive cleaning effect, reduced dust pollution, and is suitable for cement silos of different radii. It also has visual operation capabilities.
Smart Images
Figure CN113042476B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of cement silo cleaning and crushing technology, specifically to a fully automatic visual cement silo cleaning and crushing device for cement silo cleaning. Background Technology
[0002] Cement must undergo physical testing at a certain age before it can leave the factory; therefore, cement plants must have cement silos of a certain capacity. During the production process, moisture introduced with the mixing materials during grinding causes the cement to pre-hydrate, leading to cement clumping in the silo. After a certain period, a large amount of material will remain in the silo, making discharge difficult. Furthermore, because cement silos are large cylindrical structures storing cement with harsh internal environments, cleaning is inherently dangerous and must be carried out in environments with high dust pollution. Manual cleaning is prone to collapse and is inefficient; therefore, using a silo cleaning device is essential. Typical cleaning devices rely on manual assistance and only clean the area above the discharge hopper, leaving the lower parts of the silo manually cleaned. This remains highly dangerous, as the removed cement accumulates in large quantities at the bottom, and the movement of people or contact between tools and materials during cleaning easily causes secondary dust generation, further worsening the silo environment. The cement silo cleaning device disclosed in patent CN 210456001U uses three steel wire ropes to suspend the entire device. This structure makes it difficult to clean the entire circumferential plane and below the discharge silo, and the vibration generated during the cleaning process makes the device difficult to control. The multi-angle automatic cement silo cleaning machine disclosed in patent CN209647150U lacks a stable support device, and the indexing motor, located under the steel wire ropes, makes effective indexing difficult. The cement silo cleaning device disclosed in patent CN 110615192A lacks a control system and corresponding sensors, making effective control during the cleaning process impossible. The two arms of the cleaning device are used for cleaning operations and therefore cannot provide effective support, and the entire device is inconvenient for hoisting. Therefore, it is necessary to invent a fully automatic and efficient cement silo cleaning device. Summary of the Invention
[0003] The purpose of this invention is to solve the problems of dust harming personnel's health and the large amount of labor involved in the manual cleaning of existing cement silos. This invention provides a fully automatic cement silo cleaning device.
[0004] The technical solution of this invention is: a fully automatic visual cement silo cleaning device, mainly composed of a hoisting mechanism, a support mechanism, a lowering and rotating mechanism, a cleaning mechanism, and a control system; characterized in that: the hoisting mechanism includes: a winch, a winch support, and a hoisting wire rope; the support mechanism includes: a mounting base, an upper deployment device, an upper support device, and a support arm tilt sensor, the upper support device including three support telescopic arms, each support telescopic arm being driven by a moving cylinder to form three sections of telescopic arms, and a spring shock-absorbing support; the lowering and rotating mechanism includes: a vertical moving cylinder, a lower mounting base, a lower deployment device, a rotating support device, and a rotating arm tilt sensor, the rotating support device including three rotating support telescopic arms, each rotating support telescopic arm being driven by a moving cylinder The system includes a three-section telescopic boom and guide wheels. The cleaning mechanism is located at the end of the rotating support device. Each cleaning mechanism includes a cutting disc, drive motor, frame, frame tilt sensor, frame cylinder, and camera. The winch is bolted to the mounting surface of the winch support. The lifting wire rope wound on the winch is connected to eye bolts, which are threaded onto the mounting base. The upper support device is connected to the mounting base via a pin. The upper moving cylinder is fixedly mounted at the end of the basic boom of the telescopic boom via a flange. The wing plate of the basic boom is welded to the gear end face. The gear meshes with the lifting component driven by the lifting cylinder. The mounting surface supporting the end of the telescopic boom is fixed to the spring damping support with screws. The mounting surface of the support boom tilt sensor is also fixed with screws. The flange on the lifting cylinder of the upper deployment device is fixed to the top of the internal cavity of the mounting base with screws, making it coaxial with the mounting base. The vertical moving cylinder is fixed to the mounting base and the lower mounting base with screws. Similarly, the flange on the lower deployment device is vertically and coaxially fixed to the internal cavity at the lower end of the lower mounting base with screws. The tilt sensor of the rotating arm is fixed to the upper mounting surface of the basic arm of the rotating telescopic arm with screws. At the ends of the three rotating support telescopic arms, they are fixed to the upper and lower mounting plates of the guide wheel frame with bolts. Each set of guide wheels is equipped with two rollers that can be controlled to rotate independently. Each roller is driven by a motor. The cutting disc is driven by a cutting motor. The drive and cutting motor are mounted on the frame via flanges. The wing plates at both ends of the frame cylinder are connected to the wing plates under the third section of the rotating support telescopic arm and the side wing plates of the frame using pins. The upper wing plate of the frame is connected to the end of the third section of the rotating support telescopic arm using pins, forming a triangular structure. The mounting surface of the frame tilt sensor is mounted parallel to the outer mounting surface of the frame using screws. The camera is fixed to the lower mounting plate of the guide wheel frame using screws. The support telescopic arm and the rotating support telescopic arm are made of aluminum alloy and have a thin-walled structure. They adopt a pin-type telescopic structure. The vertical moving cylinder, the upper moving cylinder, and the lower moving cylinder are selected as servo electric cylinders, which can avoid hydraulic oil leakage and pollution and facilitate integration into the PLC control system.The lifting component is a cylindrical structure with teeth on its outer surface. The gears and lifting component are made of 20CrMnTi material and are nitrided to improve load-bearing capacity. The lifting cylinder is an electric cylinder that drives the lifting component to move up and down. The lifting component, through meshing with the gears, can drive the three telescopic arms to extend and retract simultaneously. The guide wheels use tapered roller bearings and Mecanum wheels, which can achieve lateral and longitudinal movement. The hubs and rolling wheels are made of aerospace aluminum alloy, and the rolling wheels are equipped with rubber sleeves. The motors of the guide wheels are servo motors, and the motor drive circuit uses the TB6612FNG chip, which has a high-current MOSFET-H bridge structure, dual-channel circuit output, and can drive two motors simultaneously. Built-in overheat protection and low-voltage detection circuits eliminate the need for external heat sinks. The camera uses an infrared sensor; infrared lamps provide illumination, and a low-light infrared color camera detects reflected infrared light from the surrounding environment to achieve night vision imaging, enabling real-time observation of cement silos in dark environments. Tilt sensors for the support arm, frame, and rotating arm collect tilt signals from the telescopic support arm, frame, and rotating support arm. These signals are processed by the PLC control system and, through communication with the electric cylinders of the upper and lower deployment devices, control the deployment angles of the upper and rotating support devices, as well as the extension and retraction of the frame cylinder, ensuring the frame remains vertical. The cutting motor is a permanent magnet synchronous motor, and the cutting disc is made of hard alloy steel, featuring a disc-shaped tool with cutting edges on its upper and cylindrical surfaces. The springs in the spring-damped support are rectangular cross-section helical compression springs.
[0005] The principle of the above scheme is as follows: one end of the winch wire rope is connected to the eye bolt threaded to the mounting base. The winch is started to hoist the device into the cement silo. After hoisting to the cleaning position, the winch stops working and self-locks for protection. The lower working mechanism is the main body of the invention. The roots of each support telescopic arm and the base are hinged by pins, and gears welded to their roots can mesh with the lifting components of the upper unfolding device, i.e., a gear and rack meshing structure. After the hoisting is stable, the lifting cylinder pushes out the lifting components, driving the three support telescopic arms to unfold simultaneously. When unfolded to a horizontal position, the support arm tilt angle sensor transmits an angle signal. The PLC control system reads the signal and issues a command to stop and lock the lifting cylinder. The upper moving cylinder inside the telescopic arm extends the support telescopic arm to the designated radius of the cement silo by pushing out segmented pins, pressing it tightly against the silo wall and fixing the entire cleaning device in place. The spring-loaded shock-absorbing support bolted at its end reduces the adverse effects of vibration during operation. Similarly, the rotating support telescopic arm of the rotating support device unfolds horizontally, and the cutting motor drives the cutting disc to rotate. The cutting disc, a disc with cutting edges, rotates at high speed to cut and break up cement blocks. Then, the lower moving cylinder inside the rotating support telescopic arm drives the telescopic arm to extend to the designated radius of the cement silo. After cleaning, the guide wheels travel circumferentially along the silo wall, driving the rotating support telescopic arm... The arm rotation causes the cutting disc to perform an arc-shaped cleaning. Due to the three-arm structure, only a 120° rotation is needed to clean the entire plane. After the circumference of the plane is cleaned, the vertical moving cylinder extends by the diameter of the cutting disc, moving to the next cutting position. The guide wheels are Mecanum wheels, enabling lateral and longitudinal movement. At this time, the three sets of guide wheels provide guidance and support, completing the cutting work on the plane. This process is repeated until the height of the discharge hopper is reached. At this point, the PLC control system commands the end of the above working mode and switches to the working mode below the discharge hopper. When cleaning the position below the discharge hopper, the PLC control system acquires the tilt angle signal of the rotating support telescopic arm transmitted by the rotating arm tilt angle sensor and controls the lower deployment device. The rotating support telescopic arm retracts downwards and extends, causing the cutter head to drop by one diameter and fit against the silo wall for cleaning. The negative feedback structure formed by the frame tilt sensor, the rotating arm tilt sensor, and the frame cylinder controls the frame cylinder to always keep the frame vertical, allowing the cutting disc to perform effective cleaning. The guide wheels rotate 120° circumferentially on the silo wall, causing the rotating support telescopic arm to rotate and the cutting disc to perform a full circumferential cleaning operation. Then, the lower unfolding device is controlled to retract the rotating support telescopic arm downwards and extend, causing the cutter head to drop by one diameter to enter the next cleaning position and fit against the silo wall for cleaning and cutting. This operation is repeated until the entire silo is cleaned.An infrared camera mounted at the end of the rotating support telescopic arm uses infrared light for "illumination," while a low-light infrared color camera detects infrared light reflected from the surrounding environment to create an image. This allows for real-time monitoring of the cutting disc cleaning process even in the dark and dusty environment of a cement silo, and adjustments can be made promptly via the control system.
[0006] The advantages of this invention compared to existing similar systems are: it can be folded for easy hoisting; it operates fully automatically, eliminating the need for manual cleaning inside the silo, making it safe and environmentally friendly; multiple fixed support arms ensure structural stability and reliable operation, and it can achieve 360° cleaning; the single-cylinder pin-type telescopic structure is suitable for cement silos of any radius within its length range; the guide wheels enable forward, lateral, diagonal, and rotational movements, as well as combinations thereof; a camera is installed for visual operation; and the angle of the rotating telescopic arm can be accurately adjusted for cleaning below the discharge hopper. Attached Figure Description
[0007] Figure 1 This is a cross-sectional view of a fully automatic visual cement silo cleaning device according to the technical solution of the present invention when it is operating above the discharge silo.
[0008] Figure 2 An internal view of a cement silo when a fully automatic visual cement silo cleaning device, as described in this invention, is operating below the discharge silo.
[0009] Figure 3 This is a structural cross-sectional view of the upper support device 5 of the technical solution of the present invention.
[0010] Figure 4 This is a structural diagram of the rotating support device 13 and the cleaning mechanism of the technical solution of the present invention.
[0011] Figure 5 This is an axial structural diagram of the guide wheel 9 in the technical solution of this invention. Detailed Implementation
[0012] To better understand this invention, the following description, with reference to the accompanying drawings, provides a more detailed explanation of a fully automatic visual cement silo cleaning device.
[0013] like Figure 1As shown, it mainly consists of a hoisting mechanism, a support mechanism, a lowering and rotating mechanism, a cleaning mechanism, and a control system. The hoisting mechanism includes: a winch 1, a winch support 2, and a hoisting wire rope 3. The support mechanism includes: a mounting base 4, an upper deployment device 14, an upper support device 5, a support arm tilt sensor 501, the upper support device 5 including three support telescopic arms 304, each support telescopic arm 304 being driven by an upper moving cylinder 201 to form three sections of telescopic arms, and a spring shock absorber support 6. The lowering and rotating mechanism includes: a vertical moving cylinder 7, a lower mounting base 8, a lower deployment device 12, a rotating support device 13, and a rotating arm tilt sensor 502, the rotating support device 13 including three rotating support telescopic arms 305. Each rotating support telescopic arm 305 is driven by a lower moving cylinder 204 to form three sections of telescopic arm and guide wheels 9. The cleaning mechanism is located at the end of the rotating support device 13. Each cleaning mechanism includes: a cutting disc 11, a cutting motor 402, a frame 403, a frame tilt sensor 503, a frame cylinder 10, and a camera 401. The wire rope 3 of the winch 1 is connected to the lifting eye screws threaded to the mounting base 4. The winch 1 is started to hoist the device into the cement silo. After being hoisted to the cleaning position, the winch 1 stops working and self-locks for protection. The lower working mechanism is the main body of the invention. The root of each support telescopic arm and the base are hinged by axle pins, and a gear 303 is welded to its root. It can engage with the lifting component 302 of the upper unfolding device 5, i.e., a gear and rack meshing structure. The lifting cylinder 301 pushes out, driving the three supporting telescopic arms 304 to unfold. When it unfolds to the horizontal position, the support arm tilt sensor 501 feeds back a signal to stop the unfolding. The internal upper moving cylinder 201 drives the supporting telescopic arms 304 to extend to the specified radius of the cement silo by pushing out the pins in stages, pressing them against the silo wall and fixing the entire silo cleaning device. The spring damping support 6, which is fixed to the end bolt, can reduce the adverse effects of vibration on the device during operation. Then, the rotating support telescopic arm 305 of the rotating support device unfolds to the horizontal in the same way. The cutting motor 402 is started to drive the cutting disc 11 to rotate. The structure 11 consists of a disc with cutting blades distributed on it. The high-speed rotation of the cutting blade disc can cut and break the cement block. Then, the lower moving cylinder 204 inside the rotating support telescopic arm 305 drives the telescopic arm to extend to the specified radius of the cement silo. After cleaning, the guide wheel 9 moves horizontally, driving the rotating support telescopic arm 305 to rotate, so that the cutting blade disc 11 performs arc cleaning. Since it is a three-arm structure, only a 120° rotation is needed to clean the entire plane. After the circumference of the plane is cleaned, the vertical moving cylinder 7 extends by one unit length. At this time, the guide wheel 9 acts as a guide and support, adjusting the height of the rotating support telescopic arm 305 to clean the next plane. This cycle is repeated until the height of the discharge silo is reached.
[0014] like Figure 2As shown, when cleaning the area below the discharge hopper, the upper support device (5) completes the support action in the cement silo. The control system sends the required angle to the lower unfolding device 12. The mechanism PLC control system controls the lower unfolding device 12 to rotate the rotating support telescopic arm 305 downward by a certain angle. The angle signal of the rotating arm tilt sensor 502 is transmitted to the mechanism PLC control system. When the predetermined angle is reached, the control system reads the angle signal value of the frame tilt sensor 503 and adjusts the frame cylinder 10 to always keep the frame 403 in the vertical direction, so that the cutting disc 11 can be effectively cleaned.
[0015] like Figure 3 As shown, the upper support device 5 is connected to the mounting base 4 by a shaft pin. The upper moving cylinder 201 is fixedly installed at the end of the basic arm of the telescopic arm by a flange. The gear 303 welded on the wing plate of the basic arm of the telescopic arm meshes with the lifting component 302 driven by the lifting cylinder 301. The mounting surface of the top of the supporting telescopic arm 304 is fixed to the spring damping support 6 by screws. The mounting surface of the support arm tilt sensor 501 is fixed parallel to the upper mounting surface of the basic arm of the supporting telescopic arm 304 by screws. The flange on the lifting cylinder 301 of the upper unfolding device 14 is fixed to the top of the internal cavity of the mounting base 4 by screws, so that it is placed coaxially with the mounting base 4.
[0016] like Figure 4 As shown, the flange on the lower deployment device 12 is vertically and coaxially fixed in the internal cavity of the lower mounting base 8 by screws. The rotating arm tilt sensor 502 is fixed to the upper mounting surface of the basic arm of the rotating support telescopic arm 305 by screws. At the ends of the three rotating support telescopic arms 305, they are fixed to the upper and lower mounting plates of the wheel frame 101 of the guide wheel 9 by bolts. The cutting disc 11 is driven by the cutting motor 402, which is mounted on the frame 403 by flanges. The wing plates at both ends of the frame cylinder 10 are connected to the wing plates under the third telescopic arm of the rotating support telescopic arm 305 and the side wing plates of the frame 403 by pins. The upper wing plate of the frame 403 is connected to the end of the third telescopic arm of the rotating support telescopic arm 305 by pins, forming a triangular structure. The mounting surface of the frame tilt sensor 503 is mounted parallel to the outer mounting surface of the frame 403 by screws. The camera 401 is fixed to the lower mounting plate of the wheel frame 101 of the guide wheel 9 by screws.
[0017] like Figure 5 As shown, the structure of the guide wheel 9 is as follows. A set of guide wheels 9 includes two individually controlled rollers 103. The rollers 103 are Mecanum wheels. Each roller 103 is driven by a motor 102 and uses tapered roller bearings. The end flange of the motor 102 is fixed to the wheel frame 101 by screws.
[0018] In summary, the fully automatic visual cement silo cleaning device of the present invention provides a cement silo cleaning device that is highly applicable, highly automated, efficient, high-performing, safe and reliable, and can be operated visually in dark, dusty environments, and is also environmentally friendly.
[0019] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A fully automatic visual cement silo cleaning device, mainly composed of a hoisting mechanism, a support mechanism, a lowering and rotating mechanism, a cleaning mechanism, and a control system; characterized in that: The hoisting mechanism includes: a winch (1), a winch support (2), and a hoisting wire rope (3); the support mechanism includes: a mounting base (4), an upper deployment device (14), an upper support device (5), and a support arm tilt sensor (501). The upper support device (5) includes three support telescopic arms (304), each of which is driven by an upper moving cylinder (201) to form three telescopic arms, and a spring shock absorber support (6); the lowering and rotating mechanism includes: a vertical moving cylinder (7), a lower mounting base (8), a lower deployment device (12), a rotating support device (13), and a rotating arm tilt sensor (502). The rotating support device (13) includes three rotating support telescopic arms (305), each of which is driven by a lower moving cylinder (204) to form three telescopic arms, and a guide wheel (9);The cleaning mechanism is located at the end of the rotating support device (13). Each cleaning mechanism includes: a cutting disc (11), a cutting motor (402), a frame (403), a frame tilt sensor (503), a frame cylinder (10), and a camera (401). The winch (1) is bolted to the mounting surface of the winch support (2). The end of the hoisting wire rope (3) wound on the winch (1) is connected to the eye bolt. The eye bolt is threaded onto the mounting base (4). The upper support device (5) is connected to the mounting wing plate of the mounting base (4) by a shaft pin. The upper moving cylinder (201) is fixedly installed at the root of the basic arm of the telescopic boom by a flange. The mounting wing plate of the basic arm is welded to the end face of the gear (303). The gear (303) meshes with the lifting component (302) driven by the lifting cylinder (301). The mounting surface of the top of the supporting telescopic arm (304) is connected to the spring damping support (6) by screws. The mounting surface of the support arm tilt sensor (501) is fixed to the upper mounting surface of the basic arm of the supporting telescopic arm (304) by screws. The flange on the lifting cylinder (301) of the upper unfolding device (14) is fixed to the top of the internal cavity of the mounting base (4) by screws, so that it is placed coaxially with the mounting base (4). The vertical moving cylinder (7) is fixed to the mounting base (4) and the lower mounting base (8) by screws. The flange on the lower unfolding device (12) is also vertically and coaxially fixed in the internal cavity at the lower end of the lower mounting base (8) by screws. The tilt sensor (502) of the rotating arm is fixed to the upper mounting surface of the basic arm of the rotating support telescopic arm (305) by screws. The lower moving cylinder (204) is fixedly installed at the root of the basic arm by a flange. The top of each of the three rotating support telescopic arms (305) is fixed to the upper and lower mounting plates of the wheel frame (101) of the guide walking wheel (9) by bolts. Each set of guide walking wheels (9) is equipped with two rollers (103) that can be rotated independently. Each roller (103) is driven by a motor (102). The cutting blade The disc (11) is driven by a cutting motor (402), which is mounted on the frame (403) via a flange. The wing plates at both ends of the frame cylinder (10) are connected to the wing plates under the third section of the rotating support telescopic arm (305) and the side wing plates of the frame (403) by pins. The upper wing plate of the frame (403) is connected to the end of the third section of the rotating support telescopic arm (305) by pins, forming a triangular structure. The mounting surface of the frame tilt sensor (503) is mounted on the outer mounting surface of the frame (403) with screws. The camera (401) is fixed to the lower mounting plate of the wheel frame (101) of the guide wheel (9) with screws.
2. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The support telescopic arm (304) and the rotating support telescopic arm (305) are made of aluminum alloy and have a thin-walled structure. They adopt a pin-type telescopic method. The vertical moving cylinder (7), the upper moving cylinder (201) and the lower moving cylinder (204) are servo electric cylinders, which can avoid hydraulic oil leakage and pollution, and facilitate connection with the PLC control system.
3. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The lifting component (302) is a cylindrical structure with teeth on its outer surface. The gear (303) and the lifting component (302) are made of 20CrMnTi material and are nitrided to improve their load-bearing capacity. The lifting cylinder (301) is a servo electric cylinder that drives the lifting component (302) to move up and down. The lifting component (302) can drive the three telescopic arms to extend and retract simultaneously by meshing with the gear (303).
4. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The guide wheel (9) uses tapered roller bearings, the roller (103) is a Mecanum wheel, which can realize lateral and longitudinal movement, the hub (104) and the rolling wheel (105) are made of aviation aluminum alloy, and the rolling wheel (105) is equipped with a rubber sleeve.
5. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The motor (102) of the guide wheel (9) is a servo motor. The motor drive circuit uses the TB6612FNG chip, which has a high current MOSFET-H bridge structure, dual-channel circuit output, and can drive two motors (102) at the same time. It has built-in overheat protection and low voltage detection circuit, and does not require an external heat sink.
6. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The camera (401) uses an infrared camera, infrared lamps radiate "illumination", and infrared low-light color camera senses the infrared light reflected back from the surrounding environment to achieve night vision imaging, enabling real-time observation of the cement warehouse in dark environments.
7. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The support arm tilt sensor (501), frame tilt sensor (503), and rotating arm tilt sensor (502) collect the tilt angle signals of the support telescopic arm (304), frame (403), and rotating support telescopic arm (305). After processing by the PLC control system, the electric cylinders of the upper deployment device (14) and lower deployment device (12) can be controlled to adjust the deployment angle of the upper support device (5) and rotating support device (13), and adjust the frame cylinder (10) which is an electric cylinder to extend and retract, so that the frame (403) is always kept in the vertical direction and maintains a machinable posture.
8. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The cutting motor (402) is an external rotor DC brushless motor, and the cutting disc (11) is made of cemented carbide steel and is a disc-shaped tool with cutting edges on the upper surface and cylindrical side.
9. The fully automatic visual cement silo cleaning device according to claim 1, characterized in that: The spring (601) of the spring damping support (6) is a rectangular cross section helical compression spring.