Grid cleaning system and method for intermediate hopper of wharf

Abstract

The application discloses a wharf intermediate hopper grid cleaning system and a cleaning method. The composition of the application comprises a steel structure platform, the steel structure platform comprises an upper layer platform and a lower layer platform, the upper layer platform extends left and right relative to the lower layer platform, a telescopic protection device is installed on the upper layer platform, a hydraulic lifting platform is installed on the lower layer platform, the upper layer platform is provided with a hole corresponding to the position of the hydraulic lifting platform, and the hydraulic lifting platform is lifted in the hole, two sets of mechanical arm systems are installed on the hydraulic lifting platform, cleaning tools are installed at the tail ends of the mechanical arms, and a guide limiting mechanism is installed at the lower part of the hydraulic lifting platform. The application effectively solves the problem of high-altitude cleaning of the intermediate hopper, avoids the risk that may occur during personnel cleaning, and greatly improves the cleaning efficiency.

Description

Technical fields:

[0002] This invention relates to a cleaning system and method for cleaning the grate mesh of intermediate material hoppers at wharves. Background technology:

[0004] Currently used manual cleaning and fixed robotic arm cleaning methods have many shortcomings when cleaning blockages in the grate of intermediate material hoppers at docks.

[0005] The intermediate hopper equipment at the dock is high, about 9-15 meters, and there is no passageway leading to the top. When the grid is severely blocked and needs to be cleared, a crane must be used to hoist workers onto the equipment, or workers must climb to the top of the equipment, which is dangerous. During the clearing process, because the mesh is large (about 200-500mm), it is dangerous for workers to step directly on the mesh to clear it, which poses a great safety hazard and is inefficient.

[0006] Traditional fixed robotic arm cleaning mechanisms have problems such as fixed position and inflexibility. When the crane is unloading materials, the grab bucket may collide with the cleaning equipment, resulting in equipment damage and other losses. Summary of the Invention:

[0008] The purpose of this invention is to provide a grid cleaning system for intermediate material hoppers at wharves, which effectively solves the problem of high-altitude cleaning of intermediate material hoppers, avoids the risks that may occur during personnel cleaning, and greatly improves cleaning efficiency.

[0009] The above objectives are achieved through the following technical solutions:

[0010] A grate cleaning system for intermediate material hoppers at a wharf includes:

[0011] A steel structure platform, comprising an upper platform and a lower platform, wherein the upper platform extends to the left and right sides relative to the lower platform;

[0012] A telescopic protective device, wherein the telescopic protective device is installed on the upper platform;

[0013] A hydraulic lifting platform is installed on the lower platform, and the upper platform has an opening at the corresponding position of the lifting platform, through which the hydraulic lifting platform moves up and down.

[0014] Two sets of the robotic arm system are installed on a hydraulic lifting platform, and cleaning attachments are installed at the end of the robotic arm.

[0015] A guide and limit mechanism is installed at the bottom of the hydraulic lifting platform.

[0016] The aforementioned wharf intermediate material hopper grid cleaning system includes a lifting mast installed on the upper layer of the steel structure platform, with a 3D vision system installed on the gimbal at the end of the mast, forming a liftable 3D vision system.

[0017] The aforementioned wharf intermediate hopper grid cleaning system includes lifting platform pads installed at both ends of the opening on the upper layer of the steel structure platform.

[0018] A cleaning method utilizing the aforementioned wharf intermediate material hopper grid cleaning system, the method comprising:

[0019] When the intermediate hopper mesh is severely clogged and needs cleaning, clean it during the working interval:

[0020] First, the telescopic protective device opens from the middle to both sides, and the hydraulic lifting platform load-bearing robotic arm system rises. With the assistance of the guide limit mechanism, it rises smoothly to the working position. Then, the lifting platform pad is placed under the hydraulic lifting platform to ensure the stability of the hydraulic lifting platform.

[0021] After the 3D vision system rises and unfolds, it scans and analyzes the grid surface and sends the calculation results to the control center. Then it retracts back to the initial position. Based on the scanning and calculation results, the control center guides the robotic arm to clean the blockage on the grid surface. After the cleaning is completed, the 3D vision system rises again to scan the surface, analyze and calculate the cleaning results. Once the target is met, the entire mechanism retracts to the initial position, the cleaning is completed, and it waits for the next cleaning command.

[0022] The beneficial effects of this invention are:

[0023] This invention eliminates the need for direct human involvement in dangerous and arduous cleaning work, while significantly improving cleaning efficiency. The entire device is height-adjustable, avoiding the risk of accidental collisions between the cleaning equipment and the crane grab bucket, making it flexible and reliable overall.

[0024] This invention has a wide range of applications and can be designed with similar structures according to different sizes. This structure can adapt to various high-altitude cleaning work environments of intermediate hoppers at docks.

[0025] The present invention has a reasonable and perfect structure, with appropriate measures to deal with complex field conditions, and can meet the needs of multiple applications; it has good stability, is robust and reliable, easy to maintain, low cost, and stable and reliable function.

[0026] The entire system of this invention can avoid the safety hazards of manual cleaning, improve cleaning efficiency, effectively increase the usable area of ​​the intermediate hopper, and improve unloading efficiency.

[0027] This invention has wide adaptability; the system can be adapted to various dock intermediate hoppers by only adjusting the size and installation position of some equipment.

[0028] This invention features a well-designed and comprehensive set of mechanisms, including lifting, guiding, fixing, scanning, guiding, cleaning, and protection. The mechanism is complete, the operation is reliable, and the functions are complete. Attached image description:

[0030] Appendix Figure 1 This is a schematic diagram of the structure of the present invention.

[0031] Appendix Figure 2 This is a structural schematic diagram from another perspective of the present invention. Detailed implementation method:

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] This invention provides a cleaning system for the mesh screen of a wharf intermediate hopper. A two-layer steel platform 1 is built next to the intermediate hopper. A hydraulic lifting platform 2 is installed on the first platform, and two sets of robotic arm cleaning equipment are installed on the lifting platform. The ends of the robotic arms 3 are equipped with cleaning attachments 7, which are responsible for cleaning the mesh screen of the intermediate hopper (including surface cleaning and mesh unblocking). The lifting platform 2 is equipped with a guide and limit mechanism 6 to ensure that the platform is stable, firm and does not shake when it is raised and lowered. A "3D vision + lifting mast" system is installed on the second platform to scan the mesh screen of the intermediate hopper before and after cleaning. A telescopic protective device 4 is installed on the top of the second platform to protect the entire cleaning equipment and the 3D vision system equipment.

[0035] The cleaning system for the intermediate hopper mesh of the wharf consists of: a steel structure platform 1, a hydraulic lifting platform 2, a robotic arm system 3, a telescopic protective device 4, lifting platform pads 5, a guide and limit mechanism 6, cleaning attachments 7, and a liftable 3D vision system 8.

[0036] The steel structure platform 1 is divided into upper and lower layers. The upper platform extends to the left and right sides and is equipped with telescopic protective devices 4.

[0037] A hydraulic lifting platform 2 is installed on the lower layer of the steel structure platform 1. An opening is made on the upper layer of the steel structure platform 1 to correspond to the position of the lifting platform, so that the hydraulic lifting platform 2 can be raised and lowered.

[0038] Two sets of robotic arms 3 are installed on the hydraulic lifting platform 2, and cleaning attachments 7 are installed at the ends of the robotic arms 3.

[0039] The hydraulic lifting platform 2 is equipped with a guide and limit mechanism 6 at its lower part;

[0040] A lifting mast is installed on the upper layer of the steel platform 1, and a 3D vision system is installed on the gimbal at the end of the mast to form a liftable 3D vision system 8.

[0041] Lifting platform pads 5 are installed at both ends of the opening on the upper layer of the steel structure platform 1.

[0042] The combination of hydraulic lifting platform and robotic arm is novel. The use of hydraulic lifting mechanism avoids the drawbacks of fixed and inflexible systems. While having cleaning function, it ensures overall flexibility, does not affect normal production, and avoids potential dangers.

[0043] The combination of a 3D vision system and a lifting mast ensures the flexibility of the overall mechanism while completing a full-range scan.

[0044] Work process:

[0045] When the intermediate hopper mesh is severely clogged and requires cleaning, cleaning is carried out during the working interval. First, the telescopic protective device 4 opens from the middle to both sides, and the hydraulic lifting platform 2, loaded with the robotic arm system 3, rises. With the assistance of the guide limit mechanism 6, it smoothly rises to the working position. Then, the lifting platform pad 5 is placed under the hydraulic lifting platform 2 to ensure its stability. The 3D vision system 8 is raised and deployed to scan and analyze the mesh surface and send the calculation results to the control center. Then, it retracts back to the initial position. Based on the scan calculation results, the control center guides the robotic arm 3 to clean the clogged mesh surface. After cleaning, the 3D vision system 8 is raised to scan the surface again, analyze and calculate the cleaning results. Once the target is met, the entire mechanism retracts to the initial position, cleaning is completed, and it awaits the next cleaning command.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning method for a grate cleaning system in a wharf intermediate material hopper, characterized in that, The system includes: The steel structure platform (1) includes an upper platform and a lower platform, wherein the upper platform extends to the left and right sides relative to the lower platform; Telescopic protective device (4), wherein the telescopic protective device (4) is installed on the upper platform; A hydraulic lifting platform (2) is installed on the lower platform. The upper platform has a hole at the corresponding lifting platform position, and the hydraulic lifting platform (2) moves up and down within the hole. Two sets of the robotic arm system (3) are installed on the hydraulic lifting platform (2), and the cleaning attachment (7) is installed at the end of the robotic arm (3); The guide limiting mechanism (6) is installed at the lower part of the hydraulic lifting platform (2); the steel structure platform (1) is equipped with a lifting mast, and the 3D vision system is installed on the gimbal at the end of the mast to form a liftable 3D vision system (8). Lifting platform pads (5) are installed at both ends of the upper opening of the steel structure platform (1); The method includes: cleaning the intermediate hopper mesh during working intervals when it is severely clogged and requires cleaning. First, the telescopic protective device (4) opens from the middle to both sides, and the hydraulic lifting platform (2) and the load-bearing robotic arm system (3) rise. With the assistance of the guide limit mechanism (6), they smoothly rise to the working position. Then, the lifting platform pad (5) is placed on the hydraulic lifting platform. Below the platform (2), ensure the stability of the hydraulic lifting platform (2); After the 3D vision system (8) is raised and unfolded, it scans and analyzes the grid surface and sends the calculation results to the control center. Then it retracts back to the initial position. According to the scanning calculation results, the control center guides the robotic arm (3) to clean the blockage on the grid surface. After the cleaning is completed, the 3D vision system (8) is raised and scans the surface again to analyze and calculate the cleaning results. After the standard is met, the entire mechanism retracts to the initial position, the cleaning is completed, and it waits for the next cleaning instruction.

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