A chute cleaning robot

Abstract

The application discloses a chute cleaning robot and relates to the technical field of cleaning robots. The walking module comprises an upper walking structure, a lower walking structure, a left walking structure and a right walking structure. The first rotation line around which the upper walking structure rotates and the second rotation line around which the lower walking structure rotates are parallel. The third rotation line around which the left walking structure rotates and the fourth rotation line around which the right walking structure rotates are parallel. The first rotation line is perpendicular to the third rotation line. The distance between the upper walking structure and the lower walking structure is adjusted by a lifting module. The distance between the left walking structure and the right walking structure is adjusted by a synchronous opening module. The push shovel cleaning module and the push shovel lifting module are located at the front end of the fuselage. The push shovel lifting module is used for lifting the push shovel cleaning module. The application can completely replace manual cleaning, does not need manual entry into the chute, has no safety hazards and has high cleaning efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to a chute cleaning robot. BACKGROUND

[0002] The conveying of alumina powder in a purification workshop chute is an important process link of electrolytic aluminum, the chute is a multi-section splicing structure of sheet metal, a nylon cloth interlayer is arranged inside, high-temperature (80 DEG C) boiling alumina powder is conveyed by pressure gas, the power of alumina powder disturbance in the chute is small, the crystallization of aluminum hydroxide decomposed and separated will be attached to the chute wall, the material blocking plate, the material lifting pipe, the chute and the stirring paddle to form scabbing, the average thickness of the scabbing on the chute wall is about 3 cm, and the local scabbing can reach 20 cm, due to the existence of the stirring dead angle part at the bottom of the tank, the aluminum hydroxide deposited at the bottom forms the scabbing at the bottom of the decomposition tank, the height of the scabbing at the tank bottom is about 1-2.5 meters, and internal sand and stone will be formed during long-term operation, and residual alumina powder will accumulate above the nylon cloth and at the flow channel connection, which has a great influence on the normal production of decomposition, affects the alumina powder conveying efficiency and the process, and the decomposition tank is forced to retreat for cleaning due to the collapse of the chute wall scabbing and the death of the stirring, which greatly affects the production. At this time, the chute needs to be checked and cleaned, and in the prior art, the cleaning of the chute is completed by manual work.

[0003] When the chute is cleaned manually, one person needs to enter the flow channel for cleaning and checking, and one person needs to monitor outside the chute. There are many unsafe factors in the operation of the chute, and the cleaning efficiency is low. SUMMARY

[0004] The purpose of the present application is to provide a chute cleaning robot to solve the problems existing in the prior art, which can completely replace manual cleaning, does not need manual work to enter the chute, has no safety hazards, and has high cleaning efficiency.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] The chute cleaning robot comprises a machine body and walking modules, a lifting module, a synchronous opening module, a push shovel cleaning module and a push shovel lifting module on the machine body, the walking modules comprise upper walking structures, lower walking structures, left walking structures and right walking structures, the first rotation line around which the upper walking structures rotate and the second rotation line around which the lower walking structures rotate are parallel, the third rotation line around which the left walking structures rotate and the fourth rotation line around which the right walking structures rotate are parallel, the first rotation line is perpendicular to the third rotation line, the distance between the upper walking structures and the lower walking structures is adjusted by the lifting module, the distance between the left walking structures and the right walking structures is adjusted by the synchronous opening module, and the push shovel lifting module is used for lifting the push shovel cleaning module.

[0007] Preferably, the upper walking structures and the lower walking structures are identical in structure, and each of the upper walking structures and the lower walking structures comprises front wheel structures and rear wheel structures; the front wheel structures and the rear wheel structures are identical in structure, and each of the front wheel structures and the rear wheel structures comprises a first driving structure, a connecting shaft and two walking wheels, the machine body of the first driving structure of the front wheel structure is fixed opposite to the machine body of the first driving structure of the rear wheel structure, the axis of the first driving structure is perpendicular to the axis of the connecting shaft, the power output end of the first driving structure is provided with a first bevel gear, the connecting shaft is provided with a second bevel gear, the first bevel gear is engaged with the second bevel gear, and the two walking wheels are respectively sleeved on both ends of the connecting shaft.

[0008] Preferably, the left walking structures and the right walking structures are identical in structure, and each of the left walking structures and the right walking structures comprises a second driving structure, a front walking wheel and a rear walking wheel, the power output end of the second driving structure is provided with a first gear, the rotating shaft of the front walking wheel and the rotating shaft of the rear walking wheel are each provided with a second gear, and the first gear is respectively in transmission connection with the two second gears.

[0009] Preferably, the lifting module comprises a linear driving structure, a connecting sheet, a guide rod and first elastic elements, the telescopic end of the linear driving structure is connected with the connecting sheet, the connecting sheet is sleeved on the outside of the guide rod, one end of the guide rod is connected with the upper walking structure, two first elastic elements are sleeved on the guide rod, the two first elastic elements are respectively located above and below the connecting sheet, the two ends of the first elastic element located above are respectively abutted against the upper walking structure and the connecting sheet, and the two ends of the first elastic element located below are respectively abutted against the connecting sheet and a first limiting component on the guide rod.

[0010] Preferably, a guide structure is further included, the guide structure comprises a guide rail and a sliding block, the sliding block is in sliding connection with the guide rail, the guide rail is connected with the upper walking structure or the fuselage, and the sliding block is connected with the fuselage or the upper walking structure through a connecting shaft.

[0011] Preferably, the synchronous opening module comprises a bidirectional screw, a supporting rod, a nut, a connecting plate and a second elastic element, the bidirectional screw comprises a first threaded section and a second threaded section with opposite screw directions, the outer sides of the first threaded section and the second threaded section are respectively sleeved with a nut, each nut is connected with a connecting plate, two connecting plates are respectively connected with the left walking structure and the right walking structure, one end of each connecting plate is sleeved on a supporting rod, the other end of each connecting plate is sleeved on another supporting rod, the second elastic element is arranged between each connecting plate and a second limiting assembly at the end of the supporting rod, and the second elastic element is sleeved on the outer side of the supporting rod.

[0012] Preferably, the push shovel cleaning module comprises a push shovel, and the bottom of the push shovel is provided with an air outlet for communicating with an external air source.

[0013] Preferably, the push shovel lifting module comprises a lifting driving structure, a sliding rail structure and a connecting rod, the fuselage of the lifting driving structure and the sliding rail structure are connected with the fuselage, the upper end of the rear side of the push shovel is provided with a sliding rod, the sliding rod is located in the track of the sliding rail structure, the lower end of the rear side of the push shovel is hingedly connected with one end of the connecting rod, the other end of the connecting rod is hingedly connected with the fuselage, and the telescopic end of the lifting driving structure is connected with the lower end of the rear side of the push shovel.

[0014] Preferably, a monitoring module is further included, the monitoring module comprises a camera, a distance sensor, a temperature sensor and a gyroscope, two cameras are respectively located at the front end and the rear end of the fuselage, the distance sensor is located above the push shovel cleaning module and is used for detecting the accumulation height of powder in the push shovel cleaning module, the temperature sensor is located at the rear end of the fuselage and is used for detecting the temperature in the chute, and the gyroscope is located on the fuselage and is used for detecting the walking angle of the chute cleaning robot.

[0015] Preferably, a control box is further included, and a controller is arranged in the control box, the controller is electrically connected with the walking module, the lifting module, the push shovel cleaning module, the push shovel lifting module and the monitoring module.

[0016] The present application has the following technical effects relative to the prior art:

[0017] When workers use the novel chute cleaning robot of this embodiment to clean chutes in a cleanroom, they can clean and purge alumina scabs, sand, and residual aluminum powder without entering the chute or wearing safety equipment. The robot can also monitor the video, distance, and temperature inside the chute, eliminating safety risks and completely replacing manual cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 A three-dimensional diagram of the chute cleaning robot of the present invention Figure 1 ;

[0020] Figure 2 A three-dimensional diagram of the chute cleaning robot of the present invention Figure 2 ;

[0021] Figure 3 A three-dimensional diagram of the chute cleaning robot of the present invention Figure 1 (Dissected at the upper walking structure);

[0022] Figure 4 for Figure 3 Magnified view of point Ⅰ;

[0023] Figure 5 for Figure 3 Magnified view of point II;

[0024] Figure 6 A three-dimensional diagram of the chute cleaning robot of the present invention Figure 1 (Dissected at the upper walking structure);

[0025] Figure 7 This is a side view of the chute cleaning robot of the present invention (without the upper walking structure);

[0026] Figure 8 This is a top view of the chute cleaning robot of the present invention (excluding the upper walking structure);

[0027] Figure 9 for Figure 8 The enlarged view of point III;

[0028] Wherein: 100 - chute cleaning robot, 1 - body, 2 - walking module, 3 - distance sensor, 4 - synchronous opening module, 5 - push shovel cleaning module, 6 - push shovel lifting module, 7 - camera, 8 - auxiliary module, 9 - temperature sensor, 10 - control box, 11 - cable, 12 - upper walking structure, 13 - lower walking structure, 14 - front wheel structure, 15 - rear wheel structure, 16 - first drive structure, 17 - connecting shaft, 18 - walking wheel, 19 - first bevel gear, 20 - second bevel gear, 21 - left walking structure, 22 - right walking structure, 23 - second drive structure, 24 - front walking wheel, 25 - rear walking wheel, 26 - transmission gear, 27 - straight line drive structure, 28 - connecting piece, 29 - guide rod, 30 - first elastic element, 31 - guide rail, 32 - bidirectional screw, 33 - support rod, 34 - nut, 35 - connecting plate, 36 - second elastic element, 37 - push shovel, 38 - air outlet, 39 - lifting drive structure, 40 - slide rail structure, 41 - connecting rod, 42 - slide rod, 43 - track. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0030] The present application aims to provide a chute cleaning robot to solve the problems existing in the prior art, which can completely replace manual cleaning, does not require manual entry into the chute, has no safety hazards, and has high cleaning efficiency.

[0031] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0032] As Figures 1 to 9The embodiment provides a chute cleaning robot 100, which comprises a machine body 1, a walking module 2, a lifting module, a synchronous opening module 4, a push shovel cleaning module 5 and a push shovel lifting module 6 on the machine body 1, the machine body 1 is the main structure of the robot, the machine body 1 is made of stainless steel, and each module of the robot is carried and installed, the walking module 2 comprises upper walking structures 12, lower walking structures 13, left walking structures 21 and right walking structures 22, the upper walking structures 12 are located above the lower walking structures 13, the upper walking structures 12 and the lower walking structures 13 are symmetrically arranged, the left walking structures 21 and the right walking structures 22 are located between the upper walking structures 12 and the lower walking structures 13, the left walking structures 21 and the right walking structures 22 are symmetrically arranged, a first rotation line around which the upper walking structures 12 rotate and a second rotation line around which the lower walking structures 13 rotate are parallel, a third rotation line around which the left walking structures 21 rotate and a fourth rotation line around which the right walking structures 22 rotate are parallel, the first rotation line is perpendicular to the third rotation line, the distance between the upper walking structures 12 and the lower walking structures 13 is adjusted through the lifting module, the distance between the left walking structures 21 and the right walking structures 22 is adjusted through the synchronous opening module 4, the push shovel cleaning module 5 and the push shovel lifting module 6 are located at the front end of the machine body 1, the push shovel cleaning module 5 is located in front of the monitoring module, and the push shovel lifting module 6 is used for lifting the push shovel cleaning module 5. The advancing and retreating direction of the walking module 2 is the advancing and retreating direction of the chute cleaning robot 100, the distance between the upper walking structures 12 and the lower walking structures 13 can be adjusted, and the distance between the left walking structures 21 and the right walking structures 22 can be adjusted, so that the cleaning operation of the chute of different specifications can be adapted.

[0033] Specifically, in the embodiment, the upper walking structures 12 and the lower walking structures 13 are the same in structure, and each of the upper walking structures 12 and the lower walking structures 13 comprises a front wheel structure 14 and a rear wheel structure 15; the front wheel structure 14 and the rear wheel structure 15 are the same in structure, and each of the front wheel structure 14 and the rear wheel structure 15 comprises a first driving structure 16, a connecting shaft 17 and two walking wheels 18, the first driving structure 16 is preferably a motor, the machine body of the first driving structure 16 of the front wheel structure 14 and the machine body of the first driving structure 16 of the rear wheel structure 15 are arranged on the bracket made of stainless steel, the axis line of the first driving structure 16 is perpendicular to the axis line of the connecting shaft 17, the power output end of the first driving structure 16 is provided with a first bevel gear 19, two second bevel gears 20 are sleeved on the connecting shaft 17, the first bevel gear 19 is engaged with the second bevel gear 20, and the two walking wheels 18 are respectively sleeved on the two ends of the connecting shaft 17. The first driving structure 16 drives the first bevel gear 19 to rotate, thereby driving the second bevel gear 20 to rotate, so as to realize the rotation of the walking wheel 18 around the axis line of the connecting shaft 17. In the embodiment, the walking wheel 18 of the front wheel structure 14 and the walking wheel 18 of the corresponding rear wheel structure 15 can be connected through a track.

[0034] In this embodiment, the lifting module includes a linear drive structure 27, a connecting piece 28, a guide rod 29, and a first elastic element 30. The linear drive structure 27 is preferably an electric cylinder, the telescopic shaft of which is connected to the connecting piece 28. The ends of the connecting piece 28 are respectively mounted on the outside of a guide rod 29. The upper end of the guide rod 29 is connected to the bracket of the upper walking structure 12. Each guide rod 29 is mounted with two first elastic elements 30, preferably springs. The two first elastic elements 30 are located above and below the connecting piece 28, respectively. The ends of the upper first elastic element 30 respectively abut against the upper walking structure 12 and the connecting piece 28, while the ends of the lower first elastic element 30 respectively abut against the connecting piece 28 and the first limit assembly on the guide rod 29. The first limit assembly is a limit plate provided at the lower end of the guide rod 29. When the linear drive structure 27 drives the upper walking structure 12 to move relative to the lower walking structure 13, the first elastic elements 30 provide shock absorption.

[0035] This embodiment also includes a guide structure, which includes a guide rail 31 and a slider. The slider is slidably connected to the guide rail 31. There are two ways to set the slider and the guide rail 31: one, the guide rail 31 is connected to the bracket of the upper walking structure 12, and the slider is connected to the fuselage 1 via the connecting shaft 17; the other, the guide rail 31 is connected to the fuselage 1, and the slider is connected to the bracket of the upper walking structure 12 via the connecting shaft 17. In this embodiment, there are preferably two guide structures, and the two guide structures are respectively located on both sides of the lifting module. When the linear drive structure 27 drives the upper walking structure 12 to move relative to the lower walking structure 13, that is, changes the distance between the upper walking structure 12 and the lower walking structure 13, the slider slides in the guide rail 31, plays a guiding role, and ensures smooth movement.

[0036] In this embodiment, the left and right travel structures 21 and 22 have identical structures, each including a second drive structure 23, a front travel wheel 24, and a rear travel wheel 25. The second drive structure 23 is preferably a motor and is positioned between the front and rear travel wheels 24 and 25. A first gear is disposed at the power output end of the second drive structure 23. Second gears are disposed on the rotating shafts of the front and rear travel wheels 24 and 25, respectively. The two second gears are coaxially disposed with the front and rear travel wheels 24 and 25, respectively. The first gear is connected to the two second gears via a plurality of transmission gears 26. The second drive structure 23 drives the first gear to rotate, which in turn drives the transmission gears 26 meshing with it. The meshing transmission gears 26 rotate in sequence, and the outermost transmission gear 26 drives the second gear meshing with it, thereby rotating the front and rear travel wheels 24 and 25. In this embodiment, the front and rear travel wheels 24 and 25 may be connected via tracks.

[0037] In this embodiment, the synchronous opening module 4 is located above the machine body 1, and is used to drive the synchronous opening and tightening of the left walking structure 21 and the right walking structure 22. The synchronous opening module 4 comprises a bidirectional screw 32, a support rod 33, a nut 34, a connecting plate 35 and a second elastic element 36. The bidirectional screw 32 is preferably a T-shaped bidirectional screw. The bidirectional screw 32 comprises a first threaded segment and a second threaded segment with opposite screw directions. The outer sides of the first threaded segment and the second threaded segment are respectively sleeved with a nut 34. Each nut 34 is connected with a connecting plate 35. Two connecting plates 35 are respectively connected with the left walking structure 21 and the right walking structure 22. One end of each connecting plate 35 is sleeved on a support rod 33. The other end of each connecting plate 35 is sleeved on another support rod 33. Each support rod 33 is fixed on a support seat. The support seat is connected with the machine body 1. Between each connecting plate 35 and the second limiting assembly at the end of the support rod 33, a second elastic element 36 is arranged. The second elastic element 36 is sleeved on the outer side of the support rod 33. The second limiting assembly is preferably a limiting sheet. The second elastic element 36 is preferably a spring. The distance between the left walking structure 21 and the right walking structure 22 is manually adjusted according to the width of the chute. When the distance between the left walking structure 21 and the right walking structure 22 increases, the second elastic element 36 is compressed to achieve shock absorption.

[0038] In this embodiment, the push shovel cleaning module 5 comprises a push shovel 37. The bottom of the push shovel 37 is provided with an air outlet 38 for communicating with an external air source. The push shovel 37 sweeps and blows the accumulated aluminum dross pieces and aluminum powder in the chute. The lower edge of the push shovel 37 is attached to a nylon cloth to push the accumulated dross pieces. The air outlet 38 at the bottom of the push shovel 37 blows the accumulated material at the connection between the chute to assist in cleaning. The push shovel cleaning module 5 can be configured with multiple specifications to adapt to different sizes of chutes. The push shovel cleaning module 5 is equipped with the air outlet 38 blowing function to smoothly cross obstacles.

[0039] In this embodiment, the push shovel lifting module 6 comprises a lifting driving structure 39, a sliding rail structure 40 and a connecting rod 41. The lifting driving structure 39 is preferably an electric cylinder. The machine body of the lifting driving structure 39 and the sliding rail structure 40 are connected with the machine body 1. The upper end of the rear side of the push shovel 37 is provided with a sliding rod 42 located in the track 43 of the sliding rail structure 40. The lower end of the rear side of the push shovel 37 is hinged to one end of the connecting rod 41. The other end of the connecting rod 41 is hinged to the machine body 1. The telescopic end of the lifting driving structure 39 is connected with the lower end of the rear side of the push shovel 37. When the telescopic end of the lifting driving structure 39 telescopes, it drives the push shovel 37 to move, thereby adjusting the angle of the push shovel 37 and the air outlet 38.

[0040] The embodiment also comprises a monitoring module, the monitoring module comprises a camera 7, a distance sensor 3, a temperature sensor 9 and a gyroscope, two cameras 7 are respectively located at the front end and the rear end of the machine body 1, the camera 7 observes the state of the chute to be cleaned, the situation in the cleaning process, the state after cleaning and the tail of the robot, the camera 7 has the functions of illumination, focusing, auxiliary dust cleaning and the like, the working scene can be displayed and observed through the man-machine operation panel, the distance sensor 3 is located above the push shovel cleaning module 5, the distance sensor 3 is used for detecting the accumulation height of the powder in the push shovel cleaning module 5, the temperature sensor 9 is located at the rear end of the machine body 1, the temperature sensor 9 is used for detecting the temperature in the chute, the gyroscope is located on the machine body 1, and the gyroscope is used for detecting the walking angle of the chute cleaning robot 100, so as to prevent the chute cleaning robot 100 from overturning. All components of the monitoring module need to take protective and heat insulation measures and can work in a high-temperature dust environment.

[0041] The embodiment also comprises a control box 10, the control box 10 is located at the rear end of the machine body 1, the control box 10 is provided with a controller, and the controller is electrically connected with the walking module 2, the lifting module, the push shovel cleaning module 5, the push shovel lifting module 6 and the monitoring module respectively. Before operation, the controller controls the push shovel lifting module 6 to retract the push shovel 37, and during operation, the controller controls the push shovel lifting module 6 to lower the push shovel 37.

[0042] The embodiment also comprises an auxiliary module 8, the auxiliary module 8 is connected to the machine body 1 through threads, and the auxiliary module 8 is located at the connection position of the tail control box 10 and the cable 11.

[0043] The embodiment also comprises a remote control system, which is located in the tail control box 10 of the machine body 1, can operate the robot and monitor the cleaning operation process in real time, has video, distance and temperature detection functions.

[0044] The embodiment also comprises a cable 11, and the cable 11 is a control cable with high strength and high speed.

[0045] The chute cleaning robot 100 of the embodiment is put into the chute through the inspection hole or the groove hole, the aluminum oxide crust and the residual aluminum oxide powder are piled up by the push shovel cleaning module 5, and the accumulated material is manually taken out through the inspection hole; the walking module 2 is located on the machine body 1, and can realize the functions of advancing, retreating, walking, speed adjusting and positioning, and can be speed-adjusted to satisfy the walking speed of 0-8 m / min; the lifting module adjusts the distance between the upper walking structure 12 and the lower walking structure 13, the synchronous opening module 4 realizes the synchronous opening and tightening of the left walking structure 21 and the right walking structure 22, the walking module 2 is pressed against the inner wall of the chute, has a certain pressing force, and can overcome the reaction force and the dragging force of the cable 11 during the cleaning operation, so that the robot can stably run, the first elastic element 30 and the second elastic element 36 are configured to adapt to the uneven inner wall of the chute and the protruding adhesive; the synchronous opening module 4 can accurately control the opening and tightening positions, and cooperate with the walking module 2 to realize the cleaning operation of different specifications of the chute; the push shovel cleaning module 5 is the operation terminal of the chute cleaning robot 100, adopts a push shovel 37, an air outlet 38 is matched with an air compressor, is used for piling up and blowing the aluminum oxide crust and the aluminum oxide powder in the chute, is installed at the front end of the robot, and has an automatic folding and adjusting function. The lower edge of the push shovel 37 is attached to the nylon cloth to push the piled up crust and the like, the bottom is provided with an air outlet 38, the accumulated material at the connection of the chute is blown and cleaned, and the piled up material is cleaned. The blowing air source pressure provided by the air compressor is not greater than 0.4 Mpa, which is adjusted according to the specific process to prevent affecting the conveying of the aluminum oxide powder; the monitoring module includes a video monitoring (camera 7), a distance sensor 3, a temperature sensor 9, a gyroscope and the like, the state of the chute to be cleaned, the situation during the cleaning process, the state after the cleaning and the tail of the robot are observed through the video monitoring module; the video monitoring camera 7 has the functions of illumination, focusing, auxiliary dust cleaning and the like, and the working scene can be displayed and observed through the man-machine operation panel; the control system is a wired remote control, adopts an embedded industrial control module as a main control unit, a Windows operating system, and can be based on an Ethernet EtherCAT field bus or a similar bus; the control system is a wired remote control, is divided into a man-machine touch panel and a field control box, and is provided with a winch type folding and winding module. The control system hardware mainly relates to an industrial control module, a touch screen, an EK1100 coupling slave station, an I / O module, a communication module, a solenoid valve, a servo driver, a servo motor, a camera 7, various sensors, a cylinder and the like.The human-computer touch panel main body structure is a touch screen, and is provided with operation buttons, alarm indication and the like, which are used for setting various control parameters during robot cleaning operation, controlling the whole cleaning operation process, and displaying operation state parameters, video monitoring and the like in real time; the cable 11 assembly is installed in a high-temperature-resistant heat-insulating sheath pipe on the robot body 1, and moves coordinately with the robot body 1, and the tail part of the robot and the field control box 10 are connected by the sheath pipe to protect the cable and prolong the service life of the cable, and the quick mounting mode of plug and play is adopted, the power line, signal line, air pipe and the like are integrated into a bundle, and the cable is provided with a built-in steel wire rope to enhance the dragging force. The power line, signal line, air pipe and the like should be made of high-temperature-resistant materials, such as polyolefin and silicone rubber wire, and a high-temperature-resistant sheath should be added outside.

[0046] When the staff uses the new chute cleaning robot 100 of the embodiment to clean the chute in the purification workshop, it is not necessary to enter the chute and wear safety protection articles, and one person can realize the cleaning and blowing function of the aluminum oxide scab piece, sandstone and residual aluminum powder, and the video, distance and temperature monitoring function inside the chute. The new chute cleaning robot 100 of the embodiment has no safety hidden danger, and can completely replace manual cleaning.

[0047] The present application aims at the improvement of the device structure, and the control process of the controller is the prior art.

[0048] The principles and implementation modes of the present application are described in the specific examples in the specification, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, according to the idea of the present application, the specific implementation mode and application range can be changed by the person skilled in the art. In conclusion, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A chute cleaning robot, characterized by: The vehicle comprises a fuselage and a walking module, a lifting module, a synchronous opening module, a bulldozer cleaning module and a bulldozer lifting module located on the fuselage, the walking module comprising an upper walking structure, a lower walking structure, a left walking structure and a right walking structure, a first rotation line around which the upper walking structure rotates and a second rotation line around which the lower walking structure rotates are parallel, a third rotation line around which the left walking structure rotates and a fourth rotation line around which the right walking structure rotates are parallel, the first rotation line is perpendicular to the third rotation line, the distance between the upper walking structure and the lower walking structure is adjusted by the lifting module, the distance between the left walking structure and the right walking structure is adjusted by the synchronous opening module, the bulldozer cleaning module and the bulldozer lifting module are both located at the front end of the fuselage, and the bulldozer lifting module is used to lift the bulldozer cleaning module; It also includes a guide structure, the guide structure includes a guide rail and a slider, the slider is slidably connected to the guide rail, the guide rail is connected to the upper walking structure or the fuselage, and the slider is connected to the fuselage or the upper walking structure through a connecting shaft; The push shovel cleaning module includes a push shovel. The bottom of the push shovel is provided with an air outlet, and the air outlet is used to communicate with an external air source.

2. The chute cleaning robot of claim 1, wherein: The upper walking structure and the lower walking structure have the same structure, and both the upper walking structure and the lower walking structure include a front wheel structure and a rear wheel structure; the front wheel structure and the rear wheel structure have the same structure, and both the front wheel structure and the rear wheel structure include a first drive structure, a connecting shaft and two walking wheels, the body of the first drive structure of the front wheel structure and the body of the first drive structure of the rear wheel structure are relatively fixed, the axis of the first drive structure is perpendicular to the axis of the connecting shaft, the power output end of the first drive structure is provided with a first bevel gear, the connecting shaft is provided with a second bevel gear, the first bevel gear is meshed with the second bevel gear, and the two walking wheels are respectively provided at both ends of the connecting shaft.

3. The chute cleaning robot of claim 1, wherein: The left walking structure and the right walking structure have the same structure. Both the left walking structure and the right walking structure include a second driving structure, a front walking wheel and a rear walking wheel. A first gear is provided at the power output end of the second driving structure. Second gears are provided on the rotating shafts of the front walking wheel and the rear walking wheel. The first gear is respectively connected to the two second gears for transmission.

4. The chute cleaning robot of claim 1, wherein: The lifting module includes a linear drive structure, a connecting piece, a guide rod and a first elastic element. The telescopic end of the linear drive structure is connected to the connecting piece. The connecting piece is sleeved on the outside of the guide rod. One end of the guide rod is connected to the upper walking structure. Two first elastic elements are sleeved on the guide rod. The two first elastic elements are respectively located above and below the connecting piece. The two ends of the first elastic element located above are respectively against the upper walking structure and the connecting piece. The two ends of the first elastic element located below are respectively against the connecting piece and the first limit assembly on the guide rod.

5. The chute cleaning robot of claim 1, wherein: The synchronous opening module comprises a bidirectional screw rod, a support rod, a nut, a connecting plate and a second elastic element, the bidirectional screw rod comprises a first threaded section and a second threaded section with opposite screw directions, the outer sides of the first threaded section and the second threaded section are respectively sleeved with a nut, each nut is connected with a connecting plate, two connecting plates are respectively connected with the left walking structure and the right walking structure, one end of two connecting plates is sleeved on a support rod, the other end of two connecting plates is sleeved on another support rod, the second elastic element is arranged between each connecting plate and the second limiting assembly at the end of the support rod, and the second elastic element is sleeved on the outer side of the support rod.

6. The chute cleaning robot of claim 1, wherein: The push shovel lifting module comprises a lifting driving structure, a sliding rail structure and a connecting rod, the machine body of the lifting driving structure and the sliding rail structure are connected with the machine body, the upper end of the rear side of the push shovel is provided with a sliding rod, the sliding rod is located in the track of the sliding rail structure, the lower end of the rear side of the push shovel is hinged with one end of the connecting rod, the other end of the connecting rod is hinged with the machine body, and the telescopic end of the lifting driving structure is connected with the lower end of the rear side of the push shovel.

7. The chute cleaning robot of claim 1, wherein: The monitoring module comprises a camera, a distance sensor, a temperature sensor and a gyroscope, two cameras are respectively located at the front end and the rear end of the machine body, the distance sensor is located above the push shovel cleaning module, the distance sensor is used for detecting the accumulation height of powder in the push shovel cleaning module, the temperature sensor is located at the rear end of the machine body, the temperature sensor is used for detecting the temperature in the chute, and the gyroscope is located on the machine body and is used for detecting the walking angle of the chute cleaning robot.

8. The chute cleaning robot of claim 7, wherein: The control box is internally provided with a controller, and the controller is electrically connected with the walking module, the lifting module, the push shovel cleaning module, the push shovel lifting module and the monitoring module.

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