A spiral lifting automatic cleaning and feeding robot and its working method

Abstract

The present invention provides a spiral lifting automatic cleaning and loading robot and its working method, which belongs to the field of robots. It solves the problem that the cleaning robot at the raw material terminal of the steel plant cannot automatically collect and clean the scattered materials on the conveyor and the cleaning efficiency is low. It includes front and rear collection mechanisms, a spiral lifting mechanism, a belt throwing mechanism, a generator set and a control box, a support mechanism and a belt-under-material cleaning mechanism installed on the vehicle chassis; the front collection mechanism and the rear collection mechanism are respectively arranged at the front and rear ends of the vehicle chassis, the spiral lifting mechanism is placed in the middle of the vehicle chassis, the belt throwing mechanism is arranged at the rear of the spiral lifting mechanism, the generator set and the control box are arranged in the front of the spiral lifting mechanism, and the belt-under-material cleaning mechanism is arranged at the bottom of the vehicle chassis. Depth cameras and laser radars are installed at the front and rear of the robot. The present invention is suitable for the automatic collection and cleaning of scattered materials on the conveyor at the raw material terminal of the steel plant.

Description

Technical Field

[0001] The invention belongs to the field of industrial machinery, and in particular relates to a spiral lifting automatic cleaning and feeding robot capable of automatically cleaning scattered materials at a port terminal, collecting and transporting them to a designated conveyor belt, and a working method thereof. Background Art

[0002] At present, in the field of industrial machinery, especially at the raw material terminal of steel mills, when port machinery unloads ships, it will put the materials on the loading port above the belt conveyor, and the materials will fall onto the belt conveyor through the loading port for transportation. When the belt conveyor is transporting materials, due to sticking, shaking, deviation and other reasons, the materials will be scattered on both sides of the belt conveyor and under the belt conveyor, which needs to be cleaned regularly. In addition, in the process of transporting materials, due to abnormalities such as loose belt clamps, materials will be scattered. In the past, manual cleaning was used to clean up such scattered materials, so there were problems such as poor working environment, high labor intensity and safety risks, and low cleaning efficiency.

[0003] Therefore, it is necessary to design an automatic cleaning device so that the cleaning robot can automatically collect and clean the scattered materials on the conveyor. Summary of the Invention

[0004] In view of this, the present invention aims to propose a spiral lifting automatic cleaning and feeding robot to solve the problem that the cleaning robot cannot automatically collect and clean the scattered materials on the conveyor and the cleaning efficiency is low at the raw material terminal of the steel plant.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows:

[0006] The lifting mechanism is a kind of automatic cleaning and feeding robot of spiral lifting type, and comprises a front collecting mechanism, a rear collecting mechanism, a spiral lifting mechanism, a belt throwing mechanism, a generator set and a control box, a support mechanism and a material cleaning mechanism under the belt, which are respectively arranged on the front end and the rear end of the vehicle chassis, the spiral lifting mechanism is placed in the middle of the vehicle chassis, the belt throwing mechanism is arranged at the rear part of the spiral lifting mechanism, the generator set and the control box are arranged in the front of the spiral lifting mechanism, the material cleaning mechanism under the belt is arranged at the bottom of the vehicle chassis, and close to the rear side of the front walking wheel on the vehicle chassis, depth cameras and laser radars are installed at the front and rear of the robot, the vehicle chassis is used to drive the robot to walk, when the robot is moving forward, the front collecting mechanism and the material cleaning mechanism under the belt cooperate to collect accumulated materials, when the robot is returning, the rear collecting mechanism is used to collect accumulated materials, and the materials fall to the belt throwing mechanism through the outlet of the spiral lifting mechanism, the generator set supplies power to each device, and the control box is used to control the action of each device.

[0007] Furthermore, the vehicle chassis adopts a four-wheel mechanism, including a chassis body, and four running wheels are provided on the bottom of the four sides of the chassis body, and each running wheel is driven by a running motor.

[0008] Furthermore, the front and rear collecting mechanisms have the same structure, both including a spiral auger, an auger motor, a shell, a bracket, and a first electric push rod. The spiral auger is arranged in the shell, and the auger motor is installed on the shell. The auger motor drives the spiral auger to move through a chain transmission mechanism. The bracket is installed on the chassis body, and the first electric push rod is hinged on the bracket. The push rod of the first electric push rod is hinged to the upper end of the shell. The side surfaces of the shells of the front and rear collecting mechanisms are respectively rotatably connected to the mounting shafts arranged at the front and rear ends of the chassis body. The first electric push rod is driven by the electric push rod motor, and the position of the spiral auger is adjusted by telescoping the first electric push rod; the spiral auger is divided into three parts: a middle scraper and left and right spirals. The left and right spirals have opposite directions, and are responsible for crushing block materials and gathering scattered materials from the left and right to the middle scraper.

[0009] Furthermore, the spiral lifting mechanism includes a spiral hoist, a scraper motor and a screw jack. Four screw jacks are provided and are evenly distributed in a rectangular shape on the chassis body. The screws of the four screw jacks are all connected to the upper support plate. The upper and lower ends of the spiral hoist are respectively passed through the center of the upper and lower support plates and connected to the upper and lower support plates. The upper support plate is arranged above the chassis body, and the lower support plate is arranged below the chassis body. Two scraper motors are also installed on the upper surface of the lower support plate. The output shaft of each scraper motor passes through the lower support plate and is connected to a scraper.

[0010] In the working state, the spiral elevator descends until the scraper contacts the ground, the material is gathered by the collecting mechanism, transported to the spiral of the elevator through the scraper at the bottom of the spiral elevator, and then lifted and thrown to the belt throwing mechanism through the spiral elevator. In the non-working state, the spiral elevator is lifted.

[0011] Furthermore, the material cleaning mechanism under the belt includes a robotic arm, an auger and a first linear motion module. The robotic arm is installed on the slide of the first linear motion module, the auger is installed on the robotic arm, and the base of the first linear motion module is fixed to the bottom of the chassis body. In the working state, the motor drives the robotic arm to control the auger to contact the ground and under the control of the first linear motion module, the auger extends out of the chassis body to clean the material; in the non-working state, the robotic arm controls the auger to lift up and under the control of the first linear motion module, the auger is retracted to under the chassis body.

[0012] Furthermore, the belt throwing mechanism includes an upper belt conveyor, a lower belt conveyor, a second linear motion module and a support frame. The second linear motion module is installed on the support frame, and the lower belt conveyor is installed on the slide of the second linear motion module and can move left and right. The upper belt conveyor is installed on the base of the second linear motion module. The upper belt conveyor is located above the lower belt conveyor. When working, the upper belt conveyor and the lower belt conveyor are staggered, and the upper belt conveyor corresponds to the outlet of the spiral lifting mechanism. The material on the conveyor is identified by the depth camera to transport the material to the left or right.

[0013] Furthermore, the automatic cleaning and loading robot is also provided with two supporting mechanisms, which are symmetrically arranged at the front and rear ends of the vehicle chassis and are arranged close to the walking wheels on the corresponding sides. The supporting mechanisms are supported on the side walls of the channel in the working state and on the ground in the non-working state.

[0014] Furthermore, the supporting mechanism includes a frame, a supporting wheel, a second electric push rod and a connecting rod, a second electric push rod is connected to the left and right sides of the top of the frame, the push rod end of each second electric push rod is hinged to the middle part of the connecting rod on the corresponding side, the outer end of each connecting rod is connected to a supporting wheel, and the inner end of the connecting rod is hinged to the connecting seat provided on the chassis body. In the working state, the second electric push rod retracts and drives the supporting wheel to rise until the supporting wheel is parallel to the ground. In the non-working state, the second electric push rod extends to drive the supporting wheel to fall, and the support wheel is supported on the ground under the push of the second electric push rod.

[0015] Furthermore, the generator set and the generator set of the control box are diesel generator sets.

[0016] Another purpose of the present invention is to provide a working method of a spiral lifting automatic cleaning and feeding robot, comprising:

[0017] When not in operation, the front collecting mechanism, the rear collecting mechanism, the under-belt material cleaning mechanism and the spiral lifting mechanism are all lifted to a certain distance from the ground, and the under-belt material cleaning mechanism is retracted to the bottom of the vehicle chassis;

[0018] When working, the robot uses depth cameras and lidar to obtain color images and depth images of the environment to realize autonomous driving path planning. The robot is driven by the chassis. When the robot is in progress, the front collection mechanism, the material cleaning mechanism under the belt and the spiral lifting mechanism are adjusted to contact the ground. The front collection mechanism and the material cleaning mechanism under the belt use the auger to sweep the ground and collect the materials in the middle. The spiral lifting mechanism lifts the materials to the belt throwing mechanism. Depending on the type of material, the material is transported to the left or right conveyor belt through the lower belt conveyor, completing the cleaning and collection of the materials in progress.

[0019] When the robot returns, the front collecting mechanism and the under-belt material cleaning mechanism are adjusted to lift up, the under-belt material cleaning mechanism is adjusted to retract to the bottom of the vehicle chassis, and the rear collecting mechanism is adjusted to contact the ground. The rear collecting mechanism uses the auger to sweep the ground and collect the materials to the middle. The spiral lifting mechanism lifts the materials to the belt throwing mechanism. Depending on the type of material, the material is transported to the left or right conveyor belt through the lower belt conveyor to complete the cleaning and collection of the return material.

[0020] Compared with the prior art, the beneficial effects of the spiral lifting automatic cleaning and feeding robot created by the present invention are:

[0021] (1) The invention creates a spiral lifting automatic cleaning and loading robot that can automatically clean, collect and transport scattered materials to a designated material conveyor belt, thereby improving production efficiency and reducing material loss.

[0022] (2) The industrial site environment is harsh. The present invention creates a spiral lifting automatic cleaning and loading robot that cleans the accumulated materials by changing its posture between working state and non-working state.

[0023] (3) Taking into account the narrow working environment of the industrial site and the difficulty of the cleaning robot to turn around, the designed robot can collect materials in both forward and reverse strokes. During the forward stroke, the front collection mechanism and the material cleaning mechanism under the belt work, and the rear collection mechanism does not work; during the reverse stroke, the rear collection mechanism works to collect the remaining materials that were not collected in the forward stroke.

[0024] (4) Material cleaning mechanism under the belt: cleans the material at the bottom of the belt conveyor. When working, it extends to the left and right to clean the material under the belt conveyor, increasing the actual cleaning working width.

[0025] (5) The invention creates a spiral lifting automatic cleaning and loading robot, which provides higher precision and efficiency through the characteristics of computer control, so that it can ensure the amount of cleaning materials and the cleaning speed in the face of complex cleaning environments, shorten the operation time, and reduce the workload of operators, making the steps simple and improving production efficiency.

[0026] (6) At the same time, the robot can identify the materials delivered through the depth camera and sort different materials according to the site requirements. The equipment has a certain level of dust and water resistance and can be controlled by a control box or remotely controlled to quickly clean the industrial site.

[0027] (7) This application takes into account the strong winds in coastal areas. When performing cleaning operations, the robot is supported by multiple support wheels. When the support mechanism is not in operation, the four support wheels of the support mechanism fall to the ground, which can increase the stability of the robot and improve the speed of the robot.

[0028] (8) After implementation, no pollution sources will be added and no adverse impact will be caused to the regional environment. All equipment in this application shall be non-polluting and meet environmental protection requirements, and the materials used shall comply with national laws and regulations on health and environmental protection.

[0029] (9) This application is mainly used for automatic cleaning and loading of materials in industrial environments. It is suitable for: (1) occasions with long working time, large scope, and rough working environment; (2) occasions where the volume of materials to be cleaned is large and the quantity is uncertain; (3) occasions where the cleaned materials need to be classified and loaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 This is a structural diagram of an automatic cleaning and loading robot in a non-working state according to an embodiment of the present invention;

[0032] Figure 2 This is a structural diagram of an automatic cleaning and loading robot in working state according to an embodiment of the present invention;

[0033] Figure 3 A schematic structural diagram of a collection mechanism of an automatic cleaning and loading robot according to an embodiment of the present invention;

[0034] Figure 4 A schematic structural diagram of a spiral lifting mechanism of an automatic cleaning and loading robot according to an embodiment of the present invention;

[0035] Figure 5 A schematic structural diagram of a chassis of an automatic cleaning and loading robot according to an embodiment of the present invention;

[0036] Figure 6 A schematic structural diagram of a belt throwing and lifting mechanism of an automatic cleaning and loading robot according to an embodiment of the present invention;

[0037] Figure 7 A schematic structural diagram of a support mechanism of an automatic cleaning and loading robot according to an embodiment of the present invention;

[0038] Figure 8 This is a structural schematic diagram of the material cleaning mechanism under the belt of an automatic cleaning and loading robot described in an embodiment of the present invention.

[0039] Description of reference numerals:

[0040] 1. Rear collection mechanism; 2. Support mechanism; 3. Vehicle chassis; 4. Belt throwing mechanism; 5. Screw lifting mechanism; 6. Generator set and control box; 7. Under-belt material cleaning mechanism; 8. Screw auger; 9. First electric push rod; 10. Electric push rod motor; 11. Bracket; 12. Auger motor; 13. Housing; 14. Mounting shaft; 15. Chain transmission mechanism; 16. Right scraper; 17. Screw jack; 18. Scraper motor; 19. Screw; 20. Screw elevator; 21. Left scraper; 22. Travel wheel; 23. Sprocket; 24. Travel motor; 25. Chassis body; 26. Second linear motion module; 27. Lower belt conveyor; 28. Upper belt conveyor; 29. ​​Support wheel; 30. Second electric push rod; 31. Frame; 32. Auger; 33. Robotic arm; 34. First linear motion module; 35. Connecting rod; 36. Front collection mechanism. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0044] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] like Figures 1-8 As shown, a spiral lifting automatic cleaning and feeding robot comprises a front collecting mechanism 36, a rear collecting mechanism 1, a spiral lifting mechanism 5, a belt throwing mechanism 4, a generator set and a control box 6, a support mechanism 2 and a belt material cleaning mechanism 7 installed on a vehicle chassis 3; the front collecting mechanism 36 and the rear collecting mechanism 1 are respectively arranged at the front and rear ends of the vehicle chassis 3, the spiral lifting mechanism 5 is placed in the middle of the vehicle chassis 3, the belt throwing mechanism 4 is arranged at the rear of the spiral lifting mechanism 5, the generator set and the control box 6 are arranged in front of the spiral lifting mechanism 5, and the belt material cleaning mechanism 7 is arranged under the belt. The material cleaning mechanism 7 is located at the bottom of the chassis 3, near the rear of the front wheels. Depth cameras and lidar sensors are installed at the front and rear of the robot. The chassis 3 drives the robot. During its forward travel, the front collection mechanism 36 and the under-belt material cleaning mechanism 7 cooperate to collect accumulated material. During its return journey, the rear collection mechanism 1 collects accumulated material, which then falls to the belt conveyor 4 at the exit of the spiral lifting mechanism 5. The generator set and control box 6 provide power to various devices, and the generator set and control box 6 control the operation of each device. Depth cameras and lidar sensors are installed at the center of the front and rear of the robot, one meter above the ground. They can simultaneously capture color and depth images (distance) of the environment for obstacle and target detection, obstacle avoidance, path planning, navigation, and autonomous driving.

[0046] The vehicle chassis 3 adopts a four-wheel mechanism, including a chassis body 25. Four running wheels 22 are provided around the bottom of the chassis body 25. Each running wheel 22 is driven by a running motor 24 through a sprocket 23 and a transmission chain.

[0047] The structures of the front and rear collecting mechanisms are the same, both including a spiral auger 8, an auger motor 12, a shell 13, a bracket 11, and a first electric push rod 9. The spiral auger 8 is arranged in the shell 13, and the auger motor 12 is installed on the shell 13. The auger motor 12 drives the spiral auger 8 to move through a chain transmission mechanism 15. The bracket 11 is installed on the chassis body 25, and the first electric push rod 9 is hinged on the bracket 11. The push rod of the first electric push rod 9 is hinged to the upper end of the shell 13. The side surfaces of the shell 13 of the front and rear collecting mechanisms are respectively rotatably connected to the mounting shafts 14 arranged at the front and rear ends of the chassis body 25. The first electric push rod 9 is driven by the electric push rod motor 10, and the position of the spiral auger 8 is adjusted by telescoping the first electric push rod 9; the spiral auger 8 is divided into three parts: a middle scraper and left and right spirals. The left and right spirals have opposite directions, which are responsible for crushing block materials and gathering scattered materials from the left and right to the middle scraper.

[0048] The spiral lifting mechanism 5 includes a spiral hoist 20, a scraper motor 18 and a screw jack 17. Four screw jacks 17 are arranged and are evenly distributed in a rectangular shape on the chassis body 25. The screws 19 of the four screw jacks 17 are all connected to the upper support plate. The upper and lower ends of the spiral hoist 20 are respectively arranged through the center of the upper and lower support plates and connected to the upper and lower support plates. The upper support plate is arranged above the chassis body 25, and the lower support plate is arranged below the chassis body 25. Two scraper motors 18 are also installed on the upper surface of the lower support plate. The output shaft of each scraper motor 18 passes through the lower support plate and is connected to a scraper, namely a left scraper 21 and a right scraper 16;

[0049] In the working state, the screw jack 17 retracts, driving the upper support plate, the lower support plate, the screw elevator, the scraper motor and the scraper to descend relative to the chassis body 25 at the same time, so that the screw elevator 20 descends until the scraper contacts the ground, and the material is gathered by the collecting mechanism and transported to the spiral of the screw elevator through the scraper at the bottom of the screw elevator 20, and then lifted and thrown to the belt throwing mechanism by the screw elevator 20; in the non-working state, the screw jack 17 extends, driving the upper support plate, the lower support plate, the screw elevator, the scraper motor and the scraper to rise relative to the chassis body 25 at the same time, so that the screw elevator 20 is lifted.

[0050] The under-belt material cleaning mechanism 7 includes a robotic arm 33, an auger 32 and a first linear motion module 34. The robotic arm 33 is installed on the slide of the first linear motion module 34, and the auger 32 is installed on the robotic arm 33. The base of the first linear motion module 34 is fixed to the bottom of the chassis body 25. In the working state, the motor drives the robotic arm 33 to control the auger 32 to contact the ground and, under the control of the first linear motion module 34, the auger extends out of the chassis body 25 to clean the material; in the non-working state, the robotic arm 33 controls the auger 32 to lift up and, under the control of the first linear motion module 34, retracts the auger 32 to the bottom of the chassis body 25.

[0051] The belt throwing mechanism 4 includes an upper belt conveyor 28, a lower belt conveyor 27, a second linear motion module 26 and a support frame. The second linear motion module 26 is installed on the support frame, and the lower belt conveyor 27 is installed on the slide of the second linear motion module 26 and can move left and right. The upper belt conveyor 28 is installed on the base of the second linear motion module 26. The upper belt conveyor 28 is located above the lower belt conveyor 27. When working, the upper belt conveyor 28 and the lower belt conveyor 27 are staggered, and the upper belt conveyor 28 corresponds to the outlet of the spiral lifting mechanism 5. The material being conveyed is identified by the depth camera to transport the material to the left or right; the movement of the second linear motion module 26 is controlled after the depth camera and the host computer recognize it, which belongs to the existing control method and will not be repeated here.

[0052] Considering the frequent occurrence of typhoons in coastal areas, the robot should be parked in a dedicated location within the warehouse during typhoons. To cope with sudden strong winds, the robot is supported by four support wheels during cleaning operations. The automatic cleaning and loading robot is also equipped with two support mechanisms 2, which are symmetrically arranged at the front and rear ends of the chassis 3 and are located close to the running wheels on the corresponding sides. The support mechanisms 2 are supported on the side walls of the passage when in operation and on the ground when not in operation.

[0053] The supporting mechanism 2 includes a frame 31, a support wheel 29, a second electric push rod 30 and a connecting rod 35. A second electric push rod 30 is connected to the left and right sides of the top of the frame 31. The push rod end of each second electric push rod 30 is hinged to the middle part of the connecting rod 35 on the corresponding side. The outer end of each connecting rod 35 is connected to a support wheel 29, and the inner end of the connecting rod is hinged to the connecting seat provided on the chassis body 25. In the working state, the second electric push rod 30 retracts and drives the support wheel 29 to rise until the support wheel 29 is parallel to the ground. In the non-working state, the second electric push rod 30 extends and drives the support wheel 29 to fall. The support wheel 29 is supported on the ground under the push of the second electric push rod.

[0054] The generator set in the generator and control box 6 is a diesel generator that provides power to the robot. The control cabinet is mounted at the end of the chassis 3. The control system is responsible for sensing the robot's own state and environmental information, image processing, obstacle and object detection, obstacle avoidance, path planning, task planning, control of the robot and its various motion mechanisms, and communication with a remote control computer. The robot can move and operate autonomously or be manually controlled remotely or on-site. The control system consists of an industrial control computer, a control board (or PLC), an industrial-grade wireless network card, two depth cameras, a lidar, a motor controller, a DC power supply (AC-DC), sensors (such as proximity switches, travel switches, a two-dimensional tilt sensor, an ultrasonic rangefinder, and a millimeter-wave radar), and various electrical components.

[0055] The robot remote control system has the following structure: The industrial computer (IPC) is the robot's onboard industrial control computer. It uses a wireless network card to dial into the broadband internet using a VPDN (Virtual Private Dial Network) and employs specialized network encryption and communication protocols for secure access to the company's intranet. VPDN utilizes specialized communication protocols to achieve reliable network security, establishing a secure virtual private network over the transmission network. VPDN users connect to the user's internal network through a virtual "tunnel" on the transmission network, preventing other users on the transmission network from entering the tunnel and accessing internal resources within the user's network.

[0056] The robot's industrial computer starts a processing program, connects to the internet via the dial-up function of its wireless network card, and then connects to a dedicated server. The local dedicated server can then communicate with the robot, obtain information about its own status, environment, and operating conditions, and send control commands to the robot, enabling remote control of the robot. The control box and control method involved in this application are existing structures and methods and will not be described in detail here.

[0057] A working method of a spiral lifting automatic cleaning and feeding robot, comprising:

[0058] When not in operation, the front collecting mechanism, the rear collecting mechanism 1, the under-belt material cleaning mechanism 7 and the spiral lifting mechanism 5 are all lifted to a certain distance from the ground, and the under-belt material cleaning mechanism 7 is retracted to the bottom of the vehicle chassis 3;

[0059] When working, the robot uses the depth camera and laser radar to obtain the color image and depth image of the environment to realize the automatic driving path planning, and drives the robot to walk through the chassis 3. When the robot is in progress, the front collecting mechanism 36, the material cleaning mechanism 7 under the belt and the spiral lifting mechanism 5 are adjusted to contact the ground. The front collecting mechanism 36 and the material cleaning mechanism 7 under the belt use the auger to sweep the ground and collect the material to the middle. The spiral lifting mechanism 5 lifts the material to the belt throwing mechanism 4. The material composition is analyzed by the depth camera and conveyed by the lower belt according to different needs. The machine 27 transports the material to the left or right conveyor belt. Specifically, when the material is transported to the left, the slide of the linear motion module drives the lower belt conveyor 27 to move to the left to the left end of the linear motion module. The upper and lower belt conveyors both transport the material to the left and throw it back to the left belt conveyor (the belt conveyor of the ground transport line); when the material is transported to the right, the slide of the linear motion module drives the lower belt conveyor to move to the right to the right end of the linear motion module. The upper and lower belt conveyors both transport the material to the right and throw it back to the right belt conveyor. The cleaning and collection of the materials in the process are completed.

[0060] When the robot returns, the front collecting mechanism 36 and the under-belt material cleaning mechanism 7 are adjusted to be lifted, the under-belt material cleaning mechanism 7 is adjusted to be retracted to the bottom of the vehicle chassis 3, and the rear collecting mechanism 1 is adjusted to contact the ground. The rear collecting mechanism 1 cleans the ground through the auger to collect the material in the middle, and the spiral lifting mechanism 5 lifts the material to the belt throwing mechanism 4. The material composition is analyzed by the depth camera, and the material is transported to the left or right conveyor belt through the lower belt conveyor 27 according to different needs to complete the cleaning and collection of the return material.

[0061] The spiral lifting automatic cleaning and feeding robot of this application is aimed at the situation where the amount of accumulation of each unit is generally uncertain (the height of scattered materials in one day: normal situation: 20mm; extreme situation: 500mm), but the specific gravity of the materials is generally large. On rainy days, the materials are relatively sticky and may clump when they fall to the ground, making them difficult to clean. The collected materials include: fallen ore (which may be discrete or in piles). The materials are scattered less during the transportation of materials by the belt conveyor. The scattered materials are concentrated in the port machinery operation area. Automatic cleaning operations can be performed in bad weather; if the material in front of the channel is relatively thick, the equipment needs to be cleaned before moving forward; the collected materials must reach at least 80% of the total waste material on the ground. After collecting the fallen materials, the collected fallen materials need to be sent to the transport belt. The robot's operating time: the ore fallen materials are cleaned twice a day. If there is more fallen materials, they are cleaned once. No cleaning is required when it rains.

[0062] A working method of a spiral lifting automatic cleaning and feeding robot, specifically comprising:

[0063] 1. Inventory status:

[0064] The four support wheels touch the ground, and there are now eight wheels (four drive wheels and four support wheels) supporting the robot. The scraper under the spiral elevator, the spiral auger of the front (rear) collection mechanism, and the auger that cleans the material at the bottom of the belt conveyor are all lifted up, 100 mm from the ground. The robot's length × width × height = 3.5 m × 3 m × 2.2 m.

[0065] 2. The robot's driving status at the entrance of the passage between the warehouse and the two belts:

[0066] The four supporting wheels fall to the ground, and there are now eight wheels (four driving wheels and four supporting wheels) supporting the machine. The scraper under the spiral elevator, the spiral auger of the front (rear) collecting mechanism, and the auger that cleans the material at the bottom of the belt conveyor are all lifted up, 100 mm from the ground.

[0067] 3. Cleaning operations

[0068] The four support wheels are raised and supported on the side walls of the channel. The auger of the front collection mechanism 36 contacts the ground, and the screw elevator 20 descends until the scraper contacts the ground. The robot arm 16 controls the auger 15 to contact the ground and, under the control of the second linear module 34, enters the bottom of the belt conveyor to clean the material and transfer it to the bottom of the trolley chassis. The lower belt conveyor 27 of the belt throwing mechanism 4 extends. The robot moves at a speed of 250 meters per hour during operation. In working state: The robot's length × width × height = 3.5m × 0.8m × 2.2m.

[0069] 4. Quick return (from the working position to the channel entrance)

[0070] The four support wheels are raised and supported on the side walls of the channel. The scraper under the screw elevator 20, the spiral auger of the front and rear collection mechanisms, and the auger that sweeps the material from the bottom of the belt conveyor are all raised to 100 mm above the ground. The lower belt conveyor 27 of the belt throwing mechanism 4 is retracted to its original position. The robot's operating speed is 250 m / h. The robot moves at high speed (471 m / h).

[0071] If during the return process, there are scattered materials on the ground that affect the robot's travel, the robot enters the cleaning state, the rear collecting mechanism 1 contacts the ground, the spiral elevator 20 descends until the scraper contacts the ground, the rear collecting mechanism 1 cleans the ground through the auger to collect the materials in the middle, the spiral elevator 5 lifts the materials to the belt throwing mechanism 4, and analyzes the material composition through the depth camera. According to different needs, the material is transported to the left or right conveyor belt through the lower belt conveyor 27 to complete the cleaning and collection of the return material; after clearing the obstacle, the robot returns to the rapid return state.

[0072] The industrial cleaning robot of the present application can perform cleaning work on industrial sites very well, and during use, the industrial cleaning robot can be automatically controlled, and the operation process is simple.

[0073] The embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A spiral lifting automatic cleaning and feeding robot, characterized by: The invention comprises a front collecting mechanism (36), a rear collecting mechanism (1), a spiral lifting mechanism (5), a belt throwing mechanism (4), a generator set and a control box (6), a support mechanism (2) and a belt under-belt material cleaning mechanism (7) installed on a vehicle chassis (3); the front collecting mechanism (36) and the rear collecting mechanism (1) are respectively arranged at the front and rear ends of the vehicle chassis (3); the spiral lifting mechanism (5) is placed in the middle of the vehicle chassis (3); the belt throwing mechanism (4) is arranged at the rear of the spiral lifting mechanism; the generator set and the control box (6) are arranged at the front of the spiral lifting mechanism (5) The material cleaning mechanism (7) under the belt is arranged at the bottom of the vehicle chassis (3) and close to the rear side of the front walking wheel on the vehicle chassis (3). Depth cameras and laser radars are installed at the front and rear of the robot. The vehicle chassis (3) is used to drive the robot to walk. When the robot is moving, the front collecting mechanism (36) and the material cleaning mechanism (7) under the belt are used to collect the accumulated materials. When the robot is returning, the rear collecting mechanism (1) is used to collect the accumulated materials. The materials fall to the belt throwing mechanism (4) at the outlet of the spiral lifting mechanism (5). The generator set supplies power to each device, and the control box is used to control the operation of each device. The material cleaning mechanism (7) under the belt includes a mechanical arm (33), an augers (32) and a first linear motion module (34), wherein the mechanical arm (33) is mounted on a slide of the first linear motion module (34), the augers (32) are mounted on the mechanical arm (33), and the base of the first linear motion module (34) is fixed to the bottom of the chassis body (25); in a working state, the motor drives the mechanical arm (33) to control the augers (32) to contact the ground and, under the control of the first linear motion module (34), the augers extend out of the chassis body (25) to clean the materials; in a non-working state, the mechanical arm (33) controls the augers (32) to be lifted and, under the control of the first linear motion module (34), the augers (32) are retracted to the bottom of the chassis body (25); The belt throwing mechanism (4) comprises an upper belt conveyor (28), a lower belt conveyor (27), a second linear motion module (26) and a support frame. The second linear motion module (26) is mounted on the support frame. The lower belt conveyor (27) is mounted on a slide of the second linear motion module (26) and can move left and right. The upper belt conveyor (28) is mounted on a base of the second linear motion module (26). The upper belt conveyor (28) is located above the lower belt conveyor (27). When working, the upper belt conveyor (28) and the lower belt conveyor (27) are staggered, and the upper belt conveyor (28) corresponds to the outlet of the spiral lifting mechanism (5). The material on the conveyor is identified by a depth camera to convey the material to the left or right.

2. The spiral lifting automatic cleaning and feeding robot according to claim 1, characterized in that: The vehicle chassis (3) adopts a four-wheel mechanism, including a chassis body (25). Four running wheels (22) are provided on the bottom of the four sides of the chassis body (25), and each running wheel (22) is driven by a running motor (24).

3. The spiral lifting automatic cleaning and feeding robot according to claim 2, characterized in that: The front and rear collecting mechanisms have the same structure, and both include a spiral auger (8), an auger motor (12), a housing (13), a bracket (11), and a first electric push rod (9). The spiral auger (8) is arranged in the housing (13), the auger motor (12) is installed on the housing (13), the auger motor (12) drives the spiral auger (8) to move through a chain transmission mechanism (15), the bracket (11) is installed on the chassis body (25), the first electric push rod (9) is hinged on the bracket (11), and the push rod of the first electric push rod (9) is The upper end of the housing (13) is hinged, and the side surfaces of the housing (13) of the front and rear collecting mechanisms are respectively rotatably connected to the mounting shafts (14) arranged at the front and rear ends of the chassis body (25). The first electric push rod (9) is driven by the electric push rod motor (10), and the position of the spiral auger (8) is adjusted by the telescopic adjustment of the first electric push rod (9); the spiral auger (8) is divided into three parts: a middle scraper and left and right spirals. The left and right spirals have opposite directions and are responsible for crushing block materials and gathering scattered materials from the left and right to the middle scraper.

4. The spiral lifting automatic cleaning and feeding robot according to claim 1, characterized in that: The spiral lifting mechanism (5) includes a spiral hoist (20), a scraper motor (18) and a screw jack (17). Four screw jacks (17) are arranged and evenly distributed in a rectangular shape on the chassis body (25). The screws (19) of the four screw jacks (17) are all connected to the upper support plate. The upper and lower ends of the spiral hoist (20) pass through the center of the upper and lower support plates respectively and are connected to the upper and lower support plates. The upper support plate is arranged above the chassis body (25), and the lower support plate is arranged below the chassis body (25). Two scraper motors (18) are also installed on the upper surface of the lower support plate. The output shaft of each scraper motor (18) passes through the lower support plate and is connected to a scraper. In the working state, the spiral elevator (20) descends until the scraper contacts the ground, the materials are gathered by the collecting mechanism, transported to the spiral of the spiral elevator through the scraper at the bottom of the spiral elevator (20), and then lifted and thrown to the belt throwing mechanism by the spiral elevator (20); in the non-working state, the spiral elevator (20) is lifted.

5. The spiral lifting automatic cleaning and feeding robot according to claim 1, characterized in that: The automatic cleaning and loading robot is further provided with two supporting mechanisms (2), which are symmetrically arranged at the front and rear ends of the vehicle chassis (3) and are respectively arranged close to the running wheels on the corresponding sides. The supporting mechanisms (2) are supported on the side walls of the channel in the working state and on the ground in the non-working state.

6. The spiral lifting automatic cleaning and feeding robot according to claim 5, characterized in that: The support mechanism (2) comprises a frame (31), a support wheel (29), a second electric push rod (30) and a connecting rod (35). A second electric push rod (30) is connected to the left and right sides of the top of the frame (31). The push rod end of each second electric push rod (30) is hinged to the middle of the connecting rod (35) on the corresponding side. The outer end of each connecting rod (35) is connected to a support wheel (29). The inner end of the connecting rod is hinged to a connecting seat provided on the chassis body (25). In the working state, the second electric push rod (30) retracts to drive the support wheel (29) to rise until the support wheel (29) is parallel to the ground. In the non-working state, the second electric push rod (30) extends to drive the support wheel (29) to fall. The support wheel (29) is supported on the ground under the push of the second electric push rod.

7. The spiral lifting automatic cleaning and feeding robot according to claim 1, characterized in that: The generator set and the generator set in the control box (6) are diesel generator sets.

8. A working method of a spiral lifting automatic cleaning and feeding robot according to any one of claims 1 to 7, characterized in that: include When not in operation, the front collecting mechanism, the rear collecting mechanism (1), the under-belt material cleaning mechanism (7) and the spiral lifting mechanism (5) are all lifted to a certain distance from the ground, and the under-belt material cleaning mechanism (7) is retracted to the bottom of the vehicle chassis (3); When working, the robot obtains color images and depth images of the environment through a depth camera and a laser radar to realize automatic driving path planning, and drives the robot to walk through the vehicle chassis (3). When the robot is in progress, the front collecting mechanism (36), the material cleaning mechanism under the belt (7) and the spiral lifting mechanism (5) are adjusted to contact the ground. The front collecting mechanism (36) and the material cleaning mechanism under the belt (7) use a stirrer to clean the ground and collect the materials to the middle. The spiral lifting mechanism (5) lifts the materials to the belt throwing mechanism (4). According to the type of materials, the materials are transported to the left or right conveyor belt through the lower belt conveyor (27), completing the cleaning and collection of the materials in progress. When the robot returns, the front collecting mechanism (36) and the material cleaning mechanism (7) under the belt are adjusted to be lifted, the material cleaning mechanism (7) under the belt is adjusted to be retracted to the bottom of the vehicle chassis (3), and the rear collecting mechanism (1) is adjusted to contact the ground. The rear collecting mechanism (1) cleans the ground through the auger to collect the materials in the middle, and the spiral lifting mechanism (5) lifts the materials to the belt throwing mechanism (4). According to the type of materials, the materials are transported to the left or right conveyor belt through the lower belt conveyor (27), completing the cleaning and collection of the materials on the return journey.

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