Robot for cleaning coal conveying pipeline of European silo

Abstract

The invention belongs to the field of robots, and particularly relates to an European silo coal conveying pipeline cleaning robot which comprises a body, a visual detection part, a cleaning part, three sets of moving wheels and a support, the body comprises a front body and a rear body which are independent, the front body can rotate relative to the rear body, the support is connected to the front end of the front body, and the visual detection part is connected with the cleaning part. The bracket is umbrella-shaped; the cleaning part comprises two water sprayers, a water pipe and two hoses, the two water sprayers are symmetrically arranged on the support, the water pipe is arranged in the body and penetrates through the front body and the rear body at the same time, the front end of the water pipe is communicated with one ends of the two hoses, and the other end of the water pipe is communicated with the other ends of the two hoses. The other end of each hose is correspondingly communicated with a water inlet of one water spray head; the visual detection part is arranged on the bracket; each group of moving wheels and the rear body are connected through a radial telescopic frame, and the radial telescopic frame can stretch out and draw back in the radial direction.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a Euro warehouse coal conveying pipeline cleaning robot. Background Art

[0002] In thermal power plants and large-scale industrial production, coal is the main fuel and is usually transported to the Euro bin for storage through multi-section telescopic assembled coal pipelines. The original intention of the design of the multi-section telescopic coal pipeline is to allow the coal pipeline to be retracted when not in use to reduce the length for easy placement. When in use, each section is extended and placed vertically in turn to facilitate the pouring of coal from the top of the Euro bin into the bin.

[0003] However, with long-term operation, coal dust, impurities and coal slag are easily accumulated inside the coal pipeline, especially in the gap between two adjacent sections. The long-term accumulation of debris will increase the resistance of the pipeline joint or even cause it to get stuck, resulting in increased expansion resistance between the two sections of the pipeline or even inability to expand and contract, affecting the smooth transportation of coal in the pipeline and the contraction efficiency of the pipeline, and even causing equipment failure or safety hazards.

[0004] Traditional coal pipeline cleaning mainly relies on manual cleaning, which requires taking the entire coal pipeline out of the warehouse and dismantling it section by section to clean the interface of each section of the pipeline. However, these methods have problems such as low efficiency, difficult operation, and incomplete cleaning. Manual cleaning of coal pipelines not only has a harsh working environment, but the cleaning process is also time-consuming and labor-intensive. Manual cleaning is more difficult for pipelines over long distances and in narrow spaces. In addition, due to the presence of a mixed environment of coal powder and air in the coal pipeline, it has a certain degree of explosiveness, and traditional mechanical cleaning equipment also faces challenges in explosion protection and safe operation. Existing pipeline robots can only clean and visually inspect the non-jointed parts of the inner wall of the coal pipeline, but cannot clean impurities in the gaps at the joints, nor can they observe blockages. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the low efficiency of the current manual cleaning of multi-section telescopic coal pipelines, the hidden dangers to personal safety, and the existing pipeline robots can only clean impurities at the non-joint parts of the inner wall of the coal pipeline, but cannot clean impurities in the gaps at the joints, nor can they observe the situation in the gaps at the joints.

[0006] In order to solve the above technical problems, the present invention provides a Euro warehouse coal pipeline cleaning robot, comprising a body, a visual detection unit, a cleaning unit, three sets of moving wheels and a bracket, wherein the three sets of moving wheels are arranged at intervals along the circumference of the body.

[0007] The body includes an independent front body and a rear body, the front body can rotate relative to the rear body, the bracket is connected to the front end of the front body, and the bracket is umbrella-shaped; the cleaning part includes two water nozzles, a water pipe and two hoses, the two water nozzles are symmetrically arranged on the bracket, the water pipe is arranged in the body and passes through the front body and the rear body at the same time, the front ends of the water pipes are connected to one end of the two hoses, and the other end of each hose is correspondingly connected to the water inlet of one of the water nozzles; the visual inspection part includes two industrial endoscopes, the two industrial endoscopes are symmetrically arranged on the bracket, and the lenses of the industrial endoscopes can rotate 360°; each group of the moving wheels and the rear body are connected by a radial telescopic frame, and the bracket can be radially telescopic.

[0008] Preferably, the bracket includes a first mounting rod, a second mounting rod, a first support rod and a second support rod, the first mounting rod and the second mounting rod are symmetrically arranged, the first support rod and the second support rod are symmetrically arranged, one end of the first mounting rod and the second mounting rod are both connected to the front end of the front body, one end of the first support rod is connected to the middle and rear part of the first mounting rod, and the other end is connected to the front body, one end of the second support rod is connected to the middle and rear part of the second mounting rod, and the other end is connected to the front body, a water nozzle and an industrial endoscope are fixed at the free end of the first mounting rod, and a water nozzle and an industrial endoscope are fixed at the free end of the second mounting rod.

[0009] Preferably, each group of the moving wheels and the rear body are connected by a radial telescopic frame, and the frame can be radially telescopic.

[0010] Preferably, it also includes a retractable connecting rod, the radial telescopic frame includes a hinged four-bar mechanism, the hinged four-bar mechanism includes two connecting rods, one end of the two connecting rods are respectively hinged to the rear body, the middle part of the rear body is rotatably connected to a first screw rod, the first screw rod is provided with a first threaded slider, the first threaded slider is sleeved outside the first screw rod and is located between the two connecting rods, one end of the retractable connecting rod is hinged to the first threaded slider, and the other end is hinged to one of the connecting rods.

[0011] Preferably, it further comprises a first motor, a first driving gear and a first driven gear, the rotating shaft of the first motor is concentrically fixed to the first driving gear, the first screw rod is sleeved and fixed to the first driven gear, and the first driving gear is meshed with the first driven gear.

[0012] Preferably, a rotatable second screw rod is provided in the front body, a second threaded slider is provided outside the second screw rod, the first mounting rod is hinged to the front end of the front body, the second mounting rod is hinged to the front end of the front body, the two ends of the first support rod are respectively hinged to the first mounting rod and the second threaded slider, and the two ends of the second support rod are respectively hinged to the second mounting rod and the second threaded slider.

[0013] Preferably, it further comprises a second motor, a second driving gear and a second driven gear, the rotating shaft of the second motor is coaxially fixed to the second driving gear, the second screw rod is sleeved and fixed to the second driven gear, and the second driving gear is meshed with the second driven gear.

[0014] Preferably, an inner gear ring is fixed at the rear end of the front body, a third motor is fixed on the rear body, a third driving gear is coaxially fixed to the rotating shaft of the third motor, and the third driving gear is meshed with the inner gear ring.

[0015] Preferably, a rotating joint is provided at the rear end of the water pipe, and the rotating joint includes a rotating part and a fixed part, the rotating part can rotate relative to the fixed part, the rear end of the water pipe is connected to the rotating part, and the fixed part can be connected to an external water source transport pipe.

[0016] The technical solution of the present invention has the following beneficial effects:

[0017] The invention provides a Euro warehouse coal pipeline cleaning robot, comprising a body, wherein the body comprises an independent front body and a rear body, the front body can rotate relative to the rear body, a bracket is connected to the front end of the front body, the bracket is umbrella-shaped, two water nozzles are symmetrically arranged on the bracket, when the front body rotates, the two water nozzles can be driven to rotate, so that a whole circle of a gap between two spliced ​​segments on the coal pipeline can be flushed by high-pressure water, ensuring that impurities in the gap can be cleaned up, and at the same time, two industrial endoscopes are symmetrically arranged on the bracket, when the front body rotates, the two industrial endoscopes can be driven to rotate, and a whole circle of the circumference of the gap can be observed, so as to provide visual information before cleaning and provide an inspection function after cleaning. The invention performs cleaning automatically with high efficiency, and can avoid the problems of low efficiency and high safety hazards in manually cleaning spliced ​​gaps of coal pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 It is a schematic diagram of the present invention outside the coal transportation pipeline;

[0020] Figure 2 is a three-dimensional cross-sectional view of the present invention;

[0021] Figure 3 This is a schematic diagram of the first viewing angle appearance of the present invention;

[0022] Figure 4 This is a schematic diagram of the appearance of the present invention from a second viewing angle.

[0023] Explanation of the reference numerals: 1. body; 11. front body; 12. rear body; 21. industrial endoscope; 31. water nozzle; 32. water pipe; 33. hose; 4. moving wheel; 51. first mounting rod; 52. second mounting rod; 53. first support rod; 54. second support rod; 6. radial telescopic frame; 61. connecting rod; 7. contraction connecting rod; 8. first screw rod; 9. first threaded slider; 10. first motor; 20. first driving gear; 30. first driven gear; 40. second screw rod; 50. second threaded slider; 60. second motor; 70. second driving gear; 80. second driven gear; 90. inner ring gear; 100. third motor; 200. third driving gear; 300. rotary joint; 310. rotating part; 320. fixed part; 400. coal conveying pipeline. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] The present invention provides a Euro warehouse coal pipeline cleaning robot, comprising a body 1, a visual detection part, a cleaning part, three groups of moving wheels 4 and a bracket, wherein the three groups of moving wheels 4 are arranged at intervals along the circumference of the body 1, and the moving wheels 4 drive the robot to walk; the visual detection part provides the robot with the function of capturing visual information, and before cleaning, it can be determined whether there are impurities in the axial gap of the coal pipeline 400 through the captured visual information, and after cleaning, it can be determined whether the impurities have been cleaned away or completely cleaned away through the captured visual information; the cleaning part and the bracket can be combined to perform rotating high-pressure water flushing on the impurities in the gap, thereby cleaning the impurities.

[0029] Specifically, the body 1 includes an independent front body 11 and a rear body 12, the front body 11 can rotate relative to the rear body 12, the bracket is connected to the front end of the front body 11, and the bracket is umbrella-shaped, so that when cleaning impurities, the front body 11 can rotate, thereby driving the bracket to rotate, and the cleaning part includes two water nozzles 31, a water pipe 32 and two hoses 33, the two water nozzles 31 are symmetrically arranged on the bracket, and when the bracket rotates, the two water nozzles 31 can be driven to rotate, thereby circumferentially flushing the internal space of the coal conveying pipe. The water pipe 32 is arranged in the body 1, and runs through the front body 11 and the rear body 12 at the same time. The front end of the water pipe 32 is connected to one end of the two hoses 33, and the other end of each hose 33 is connected to the water inlet of a water nozzle 31. The rear end of the water pipe 32 is connected to an external high-pressure water source, and the water enters the two water nozzles 31 through the water pipe 32 and the hose 33. The visual inspection unit includes two industrial endoscopes 21, which are symmetrically arranged on the bracket, and the lens of the industrial endoscope 21 can rotate 360 ​​degrees. The industrial endoscope 21 is driven by the bracket to rotate, and can shoot a circle of gaps inside the coal conveying pipeline 400. The lens can rotate 360 ​​degrees to shoot the gap in all directions. Each set of moving wheels 4 and the rear body 12 are connected by a radial telescopic frame 6, and the bracket can be radially telescopic.

[0030] In order to enable the robot to clean impurities from each section of the coal conveying pipeline 400 (of different diameters), the moving wheel 4 can be retracted and expanded by a radial telescopic frame 6, so that the moving wheel 4 can travel in sections of the coal conveying pipeline 400 of different diameters, and the bracket can be radially telescopic to change the size of the spraying circle of the two water nozzles 31 to adapt to sections of the coal conveying pipeline 400 of different diameters.

[0031] Specifically, the bracket includes a first mounting rod 51, a second mounting rod 52, a first support rod 53 and a second support rod 54. The first mounting rod 51 and the second mounting rod 52 are symmetrically arranged, and the first support rod 53 and the second support rod 54 are symmetrically arranged. One end of the first mounting rod 51 and the second mounting rod 52 are both connected to the front end of the front body 11, one end of the first support rod 53 is connected to the middle and rear part of the first mounting rod 51, and the other end is connected to the front body 11, one end of the second support rod 54 is connected to the middle and rear part of the second mounting rod 52, and the other end is connected to the front body 11, a water nozzle 31 and an industrial endoscope 21 are fixed at the free end of the first mounting rod 51, and a water nozzle 31 and an industrial endoscope 21 are fixed at the free end of the second mounting rod 52.

[0032] Specifically, the present invention also includes a retractable link 7, and the radial telescopic frame 6 is a hinged four-bar mechanism, which includes two connecting rods 61, one end of each of the two connecting rods 61 is hinged to the rear body 12, and the middle of the rear body 12 is rotatably connected to a first screw rod 8, on which a first threaded slider 9 is provided, which is sleeved outside the first screw rod 8 and is located between the two connecting rods 61, and one end of the retractable link 7 is hinged to the first threaded slider 9, and the other end is hinged to one of the connecting rods 61. The rotation of the first screw rod 8 drives the first threaded slider 9 to slide on the first screw rod 8, and the sliding of the first threaded slider 9 drives the retractable link 7 to swing, which drives the swing and extension of the hinged four-bar mechanism, thereby causing the moving wheel 4 to be expanded or retracted.

[0033] The present invention also includes a first motor 10, a first driving gear 20 and a first driven gear 30, which provide power for the rotation of the first screw rod 8. The rotating shaft of the first motor 10 is concentrically fixed with the first driving gear 20, and the first driven gear 30 is sleeved and fixed on the first screw rod 8. The first driving gear 20 is meshed with the first driven gear 30. After the first motor 10 is started, it drives the first driving gear 20 to rotate, the first driving gear 20 drives the first driven gear 30 to rotate, and the first driven gear 30 drives the first screw rod 8 to rotate.

[0034] A rotatable second screw rod 40 is provided inside the front body 11, a second threaded slider 50 is provided outside the second screw rod 40, a first mounting rod 51 is hinged to the front end of the front body 11, a second mounting rod 52 is hinged to the front end of the front body 11, two ends of the first support rod 53 are respectively hinged to the first mounting rod 51 and the second threaded slider 50, and two ends of the second support rod 54 are respectively hinged to the second mounting rod 52 and the second threaded slider 50. The rotation of the second screw rod 40 drives the second threaded slider 50 to move, and the second threaded slider 50 drives the bracket to expand and contract, thereby changing the diameter of the bracket, thereby causing the water spray head 31 and the industrial endoscope 21 to expand or contract.

[0035] The present invention also includes a second motor 60, a second driving gear 70 and a second driven gear 80, which provide power for the rotation of the second screw rod 40. The second driving gear 70 is concentrically fixed to the rotating shaft of the second motor 60. The second driven gear 80 is sleeved and fixed on the second screw rod 40. The second driving gear 70 is meshed with the second driven gear 80. After the second motor 60 is started, it drives the second driving gear 70 to rotate, the second driving gear 70 drives the second driven gear 80 to rotate, and the second driven gear 80 drives the second screw rod 40 to rotate.

[0036] An inner gear ring 90 is fixed to the rear end of the front body 11, and a third motor 100 is fixed to the rear body 12. A third driving gear 200 is concentrically fixed to the rotating shaft of the third motor 100. The third driving gear 200 is meshed with the inner gear ring 90. When the third motor 100 is started, the third driving gear 200 is driven to rotate. The rotation of the third driving gear 200 drives the inner gear ring 90 to rotate, thereby driving the front body 11 to rotate.

[0037] A rotating joint 300 is provided at the rear end of the water pipe 32. The rotating joint 300 includes a rotating portion 310 and a fixed portion 320. The rotating portion 310 can rotate relative to the fixed portion 320. The rear end of the water pipe 32 is connected to the rotating portion 310, and the fixed portion 320 can be connected to an external water source transport pipe. In this way, the water pipe 32 can be driven to rotate when the front body 11 rotates, providing a degree of freedom for the rotation of the water pipe 32, and preventing the rear end of the water pipe 32 from affecting the rotation of the water pipe 32 due to the connection with the high-pressure water pump.

[0038] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A coal pipeline cleaning robot for a Euro warehouse, comprising a body (1), a visual detection unit, a cleaning unit, and three sets of moving wheels (4), wherein the three sets of moving wheels (4) are arranged at intervals along the circumference of the body (1), and the visual detection unit, the cleaning unit, and the three sets of moving wheels (4) are all connected to the body (1), characterized in that: The cleaning part also includes a bracket, wherein the body (1) includes an independent front body (11) and a rear body (12), wherein the front body (11) can rotate relative to the rear body (12), and the bracket is connected to the front end of the front body (11), and the bracket is umbrella-shaped; the cleaning part includes two water spray heads (31), a water pipe (32) and two hoses (33), wherein the two water spray heads (31) are symmetrically arranged on the bracket, and the water pipe (32) is arranged in the body (1) and penetrates through the front body (11) and the rear body (12). The rear body (12) comprises a water pipe (32), the front end of each of the water pipes (32) being connected to one end of the two hoses (33), and the other end of each of the hoses (33) being connected to a water inlet of a corresponding water nozzle (31); the visual inspection unit comprises two industrial endoscopes (21), the two industrial endoscopes (21) being symmetrically arranged on the bracket, and the lenses of the industrial endoscopes (21) being rotatable 360°; each set of moving wheels (4) and the rear body (12) are connected by a radial telescopic frame (6), and the bracket is radially telescopic.

2. The Euro warehouse coal pipeline cleaning robot according to claim 1, characterized in that: The bracket comprises a first mounting rod (51), a second mounting rod (52), a first support rod (53) and a second support rod (54); the first mounting rod (51) and the second mounting rod (52) are symmetrically arranged; the first support rod (53) and the second support rod (54) are symmetrically arranged; one end of the first mounting rod (51) and the second mounting rod (52) are both connected to the front end of the front body (11); one end of the first support rod (53) is connected to the middle and rear part of the first mounting rod (51), and the other end is connected to the front body (11); one end of the second support rod (54) is connected to the middle and rear part of the second mounting rod (52), and the other end is connected to the front body (11); a water spray head (31) and an industrial endoscope (21) are fixed to the free end of the first mounting rod (51); a water spray head (31) and an industrial endoscope (21) are fixed to the free end of the second mounting rod (52).

3. The Euro warehouse coal pipeline cleaning robot according to claim 2, characterized in that: Each group of the moving wheels (4) and the rear body (12) are connected by a radial telescopic frame (6), and the frame can be radially telescopic.

4. The Euro warehouse coal pipeline cleaning robot according to claim 3, characterized in that: The radial telescopic frame (6) further comprises a retractable connecting rod (7), wherein the radial telescopic frame (6) comprises a hinged four-bar mechanism, wherein the hinged four-bar mechanism comprises two connecting rods (61), wherein one end of the two connecting rods (61) are respectively hinged to the rear body (12), and the middle part of the rear body (12) is rotatably connected to a first screw rod (8), wherein a first threaded slider (9) is provided on the first screw rod (8), wherein the first threaded slider (9) is sleeved outside the first screw rod (8) and is located between the two connecting rods (61), wherein one end of the retractable connecting rod (7) is hinged to the first threaded slider (9), and the other end is hinged to one of the connecting rods (61).

5. The Euro warehouse coal pipeline cleaning robot according to claim 4, characterized in that: The invention also comprises a first motor (10), a first driving gear (20) and a first driven gear (30); the first driving gear (20) is coaxially fixed to the rotating shaft of the first motor (10); the first driven gear (30) is sleeved on and fixed to the first screw rod (8); and the first driving gear (20) is meshed with the first driven gear (30).

6. The Euro warehouse coal pipeline cleaning robot according to claim 3, characterized in that: A rotatable second screw rod (40) is provided inside the front body (11), a second threaded slider (50) is provided outside the second screw rod (40), the first mounting rod (51) is hinged to the front end of the front body (11), the second mounting rod (52) is hinged to the front end of the front body (11), the first support rod (53) has two ends hinged to the first mounting rod (51) and the second threaded slider (50), and the second support rod (54) has two ends hinged to the second mounting rod (52) and the second threaded slider (50).

7. The Euro warehouse coal pipeline cleaning robot according to claim 6, characterized in that: The invention also comprises a second motor (60), a second driving gear (70) and a second driven gear (80); the second driving gear (70) is coaxially fixed to the rotating shaft of the second motor (60); the second driven gear (80) is sleeved on and fixed to the second screw rod (40); and the second driving gear (70) is meshed with the second driven gear (80).

8. The Euro warehouse coal pipeline cleaning robot according to claim 1, characterized in that: An inner gear ring (90) is fixed at the rear end of the front body (11), a third motor (100) is fixed on the rear body (12), a third driving gear (200) is coaxially fixed to the rotating shaft of the third motor (100), and the third driving gear (200) is meshed with the inner gear ring (90).

9. The Euro warehouse coal pipeline cleaning robot according to claim 1, characterized in that: A rotating joint (300) is provided at the rear end of the water pipe (32), and the rotating joint (300) comprises a rotating part (310) and a fixed part (320). The rotating part (310) can rotate relative to the fixed part (320). The rear end of the water pipe (32) is connected to the rotating part (310), and the fixed part (320) can be connected to an external water source transport pipe.

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