Crawler-type ground slag pushing robot

Abstract

The invention provides a crawler-type ground slag pushing robot, and relates to the technical field of slag pushing robots. The crawler-type ground slag pushing robot comprises a moving mechanism, an upper cover is fixedly arranged at the upper end of the moving mechanism, a camera is fixedly arranged on one side of the upper end of the upper cover, a data transmitter is fixedly arranged on the other side of the upper end of the upper cover, and a laser radar is fixedly arranged in the middle of the upper end of the upper cover. Cleaning mechanisms are fixedly arranged at the four corners of the upper end of the upper cover, and a front push shovel mechanism is fixedly arranged at one end of the moving mechanism. The whole device is driven by the moving mechanism to move, and by combining the front push shovel mechanism and the rear push shovel mechanism at the two ends of the device, the device can replace manpower to move and operate in an electrolysis workshop, waste residues generated in the electrolysis workshop during working are treated, and the situation that in the existing production process, waste residues are generated in the electrolysis workshop is avoided. And through manual slag removal, harm is brought to the body of a worker, the potential safety hazard risk in the process is reduced, and the safety of the device in use is improved.

Description

Technical Field

[0001] The invention relates to the technical field of slag pushing robots, in particular to a crawler type ground slag pushing robot. Background Art

[0002] Slag cleaning in electrolytic workshop usually refers to the process of cleaning and treating the solid waste generated in the electrolytic cell during the electrolytic production process. These solid wastes mainly include anode slag, aluminum ash and electrolytic cell overhaul slag, which contain a large amount of soluble fluoride and cyanide, which are potentially harmful to the environment and human health.

[0003] The existing electrolysis workshops use manual methods to complete the slag cleaning process. During this process, it is difficult for workers to avoid contact with solid waste generated by electrolysis. At the same time, the slag cleaning site usually has risk factors such as high magnetic field, high dust, and high-temperature falling objects, which can easily bring health risks and secondary damage to on-site workers. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a crawler-type ground slag pushing robot, which solves the problem that slag cleaning in the existing electrolysis workshop usually needs to be done manually, which poses a safety hazard.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a crawler-type ground slag pushing robot, comprising a moving mechanism, an upper cover is fixedly arranged on the upper end of the moving mechanism, a camera is fixedly arranged on one side of the upper end of the upper cover, a data transmitter is fixedly arranged on the other side of the upper end of the upper cover, a laser radar is fixedly arranged at the middle position of the upper end of the upper cover, and cleaning mechanisms are fixedly arranged at the four corners of the upper end of the upper cover;

[0006] A front push shovel mechanism is fixedly arranged at one end of the moving mechanism, a rear push shovel mechanism is fixedly arranged at the other end of the moving mechanism, and lifting rings are fixedly arranged at the four corners of the upper end of the moving mechanism.

[0007] Preferably, the rear shovel mechanism comprises a rear shovel plate, a slide groove is provided on one side surface of the rear shovel plate, a second hinge is fixedly provided at the middle position of the slide groove, and a connecting rod is hingedly provided at one end of the second hinge.

[0008] Preferably, two first hinged members are slidably provided inside the slide groove, one end of each of the two first hinged members is hingedly provided with a connecting head, and one end of each of the two connecting heads is fixedly provided with a first telescopic rod.

[0009] Preferably, the moving mechanism comprises a protective shell, two mounting seats are fixedly provided on one side of the interior of the protective shell, first servo motors are fixedly provided on the surfaces of the two mounting seats, and driving wheels are fixedly provided on the output ends of the two first servo motors.

[0010] Preferably, a telescopic cylinder is fixedly provided on the other side of the inner bottom surface of the protective shell, a rotating seat is fixedly provided on the output end of the telescopic cylinder, a driven connecting rod is rotatably provided inside the rotating seat, driven wheels are fixedly provided at both ends of the driven connecting rod, and tracks are wrapped around the outer surfaces of the driving wheel and the driven wheel.

[0011] Preferably, a connecting plate is fixedly provided in the middle position of the outer walls on both sides of the protective shell, a second telescopic rod is fixedly provided at the center of the bottom surfaces of the two connecting plates, a support platform is fixedly provided at the bottom ends of the two second telescopic rods, four auxiliary wheels are rotatably provided on the bottom surfaces of the two support platforms, a battery is fixedly provided in the middle position of the inner bottom surface of the protective shell, and movable grooves are provided on one side of the outer walls on both sides of the protective shell.

[0012] Preferably, the cleaning mechanism comprises a support frame, a top plate is fixedly provided at the upper end of the support frame, a slide rail is fixedly provided at a middle position of the bottom surface of the top plate, and a linear motor is slidably provided on the surface of the slide rail.

[0013] Preferably, a third telescopic rod is fixedly provided in the middle position of the bottom surface of the linear motor, a first motor housing is fixedly provided at the bottom end of the third telescopic rod, a rotating motor is fixedly provided inside the first motor housing, a cleaning cover is fixedly provided at the output end of the rotating motor, and a cleaning brush is fixedly provided on the inner surface of the cleaning cover.

[0014] Preferably, the front push shovel mechanism includes a first guide groove, a second guide groove and two lifting blocks, a second motor housing is fixedly arranged at the bottom end of the first guide groove, a second servo motor is fixedly arranged inside the second motor housing, a threaded rod is fixedly arranged at the output end of the second servo motor, and a sliding rod is fixedly arranged inside the second guide groove.

[0015] Preferably, one of the two lifting blocks is threaded on the surface of the threaded rod, the other of the two lifting blocks is slidably arranged on the surface of the sliding rod, a fourth telescopic rod is fixedly arranged on one side of the two lifting blocks, and a front bucket is fixedly arranged on one end of the two fourth telescopic rods.

[0016] Working principle: When the device is in use, the user can lift the entire device to the position where it needs to be used through the lifting ring, adjust the length of the two first telescopic rods, and adjust the position of the two hinges in the slide slot and the angle of the rear shovel plate. After the adjustment is completed, the two active wheels are driven to rotate by the first servo motor, and then the driven wheels are driven to rotate, and the device is moved as a whole through the crawler drive. After the angle adjustment is completed, the rear shovel plate pushes the waste slag generated in the electrolysis workshop to one side of the path. After the push is completed, the threaded rod is driven to rotate by the second servo motor, and the front bucket is lowered to fit the ground by the movement of the two lifting blocks. The device is driven as a whole to move by the first servo motor, and the waste slag is pushed to the designated position along the edge of the path.

[0017] Secondly, during the operation of the entire device, when it touches an obstacle with a larger slope, the user can control the second servo motor to rotate, raise the front shovel mechanism as a whole, control the telescopic cylinder to retract, and control the second telescopic rod to extend, so as to lift the driving wheel and the driven wheel, so that the driving wheel moves upward along the slope surface of the obstacle. After passing the top of the slope, the second telescopic rod retracts, the telescopic cylinder extends, and the driving wheel and the driven wheel are lowered to pass the top of the obstacle. At the same time, after the device has been working for a long time, dust may accumulate on the surface of the camera and lidar. The cleaning cover can be driven by the linear motor to move. After moving to the appropriate position, the third telescopic rod extends to cover the lidar or camera, and the rotating motor is turned on to drive the cleaning brush inside the cleaning cover to rotate to clean the surface of the lidar or camera.

[0018] The present invention provides a crawler-type ground slag pushing robot. It has the following beneficial effects:

[0019] 1. The present invention provides a crawler-type ground slag pushing robot. Compared with the existing ground slag pushing equipment, the ground slag pushing robot is provided with a moving mechanism. When the user uses it, the moving mechanism can drive the device as a whole to move. Combined with the front pushing shovel mechanism and the rear pushing shovel mechanism at both ends of the device, the device can replace manual movement in the electrolysis workshop to process the waste slag generated inside the electrolysis workshop when the electrolysis workshop is working, avoiding the harm to the workers' bodies caused by manual slag cleaning in the existing production process, reducing the risk of safety hazards in the process, and improving the safety of the device when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a first axonometric schematic diagram of the present invention;

[0021] Figure 2 is a second axonometric schematic diagram of the present invention;

[0022] Figure 3 is a third axonometric schematic diagram of the present invention;

[0023] Figure 4 is a fourth axonometric schematic diagram of the present invention;

[0024] Figure 5 is a cross-sectional schematic diagram of the cleaning mechanism of the present invention;

[0025] Figure 6 is a cross-sectional schematic diagram of the moving mechanism of the present invention;

[0026] Figure 7 It is a first isometric schematic diagram of the front push shovel mechanism of the present invention;

[0027] Figure 8 It is a second isometric schematic diagram of the front push shovel mechanism of the present invention;

[0028] Fig. 9 It is an axonometric schematic diagram of the rear push shovel mechanism of the present invention.

[0029] Among them, 1. laser radar; 2. data transmitter; 3. rear push shovel mechanism; 4. moving mechanism; 5. cleaning mechanism; 6. camera; 7. upper cover; 8. lifting ring; 9. front push shovel mechanism; 301. rear shovel plate; 302. first hinge; 303. slide; 304. connector; 305. first telescopic rod; 306. second hinge; 307. connecting rod; 401. crawler; 402. driven wheel; 403. connecting plate; 404. second telescopic rod; 405. support platform; 406. auxiliary wheel; 407. driven connecting rod; 408. protective shell; 409. telescopic cylinder; 410. Rotating seat; 411, movable slot; 412, first servo motor; 413, mounting seat; 414, battery; 415, driving wheel; 501, top plate; 502, slide rail; 503, rotating motor; 504, support frame; 505, linear motor; 506, third telescopic rod; 507, first motor housing; 508, cleaning cover; 509, cleaning brush; 901, threaded rod; 902, first guide slot; 903, lifting block; 904, front bucket; 905, second guide slot; 906, slide rod; 907, fourth telescopic rod; 908, second motor housing; 909, second servo motor. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0031] like Figure 1-4As shown, an embodiment of the present invention provides a crawler-type ground slag pushing robot, including a moving mechanism 4, an upper cover 7 is fixedly arranged on the upper end of the moving mechanism 4, a camera 6 is fixedly arranged on one side of the upper end of the upper cover 7, a data transmitter 2 is fixedly arranged on the other side of the upper end of the upper cover 7, a laser radar 1 is fixedly arranged at the middle position of the upper end of the upper cover 7, and cleaning mechanisms 5 are fixedly arranged at the four corners of the upper end of the upper cover 7;

[0032] A front push shovel mechanism 9 is fixedly arranged at one end of the moving mechanism 4 , a rear push shovel mechanism 3 is fixedly arranged at the other end of the moving mechanism 4 , and hoisting rings 8 are fixedly arranged at the four corners of the upper end of the moving mechanism 4 .

[0033] Specifically, by providing a moving mechanism 4, it is convenient to realize the mobile function of the device when it is used as a whole. By providing an upper cover 7, it is convenient to provide a bearing space for each structure of the device. By providing a camera 6 and a laser radar 1, it is convenient to collect information about the surrounding environment of the device and to subsequently plan the moving path of the device as a whole. By providing a cleaning mechanism 5, it is convenient to clean the camera 6 and the laser radar 1 of the device after they are covered with dust. By providing a front shovel mechanism 9 and a rear shovel mechanism 3, it is convenient to realize the basic function of the device to clean waste slag. By providing a lifting ring 8, it is convenient for the user to lift the entire device to a suitable position for use.

[0034] like Figure 4-9 As shown, the rear shovel mechanism 3 includes a rear shovel plate 301, a slide groove 303 is provided on one side surface of the rear shovel plate 301, a second hinge 306 is fixedly arranged at the middle position of the slide groove 303, a connecting rod 307 is hingedly arranged at one end of the second hinge 306, two first hinges 302 are slidably arranged inside the slide groove 303, one end of the two first hinges 302 are hingedly arranged with a connecting head 304, and one end of the two connecting heads 304 are fixedly arranged with a first telescopic rod 305.

[0035] Specifically, by providing a rear shovel plate 301 in combination with two first telescopic rods 305, when in use, the user can adjust the angle of the rear shovel plate 301 by adjusting the extended length of the two first telescopic rods 305 and the position of the second hinge 306 in the slide groove 303, so that the user can push the waste slag to both sides of the path when the device is moved as a whole, so as to facilitate subsequent overall processing.

[0036] The moving mechanism 4 includes a protective shell 408, two mounting seats 413 are fixedly arranged on one side of the protective shell 408, first servo motors 412 are fixedly arranged on the surfaces of the two mounting seats 413, and driving wheels 415 are fixedly arranged at the output ends of the two first servo motors 412. A telescopic cylinder 409 is fixedly arranged on the other side of the inner bottom surface of the protective shell 408, and a rotating seat 410 is fixedly arranged at the output end of the telescopic cylinder 409. A driven connecting rod 407 is rotatably arranged inside the rotating seat 410, and driven wheels 402 are fixedly arranged at both ends of the driven connecting rod 407. Tracks 401 are wound around the outer surfaces of the driving wheel 415 and the driven wheel 402, connecting plates 403 are fixedly arranged in the middle position of the outer walls on both sides of the protective shell 408, second telescopic rods 404 are fixedly arranged at the center of the bottom surfaces of the two connecting plates 403, support platforms 405 are fixedly arranged at the bottom ends of the two second telescopic rods 404, four auxiliary wheels 406 are rotatably arranged on the bottom surfaces of the two support platforms 405, a battery 414 is fixedly arranged in the middle position of the inner bottom surface of the protective shell 408, and movable grooves 411 are opened on one side of the outer walls on both sides of the protective shell 408.

[0037] Specifically, by providing a first servo motor 412 and a driving wheel 415, it is helpful to realize the mobile function of the device when it is used as a whole. By providing a driven wheel 402 and a track 401, it is helpful to improve the mobile function of the device when it is used as a whole. By providing a second telescopic rod 404 and an auxiliary wheel 406, combined with a movable groove 411 and a telescopic cylinder 409, it is convenient for the user to adjust the position of the auxiliary wheel 406 when using the device as a whole, and then lift the driving wheel 415 of the device, so that it can better contact the slope of the obstacle, so that it can more smoothly climb over obstacles with a larger slope.

[0038] The cleaning mechanism 5 includes a support frame 504, a top plate 501 is fixedly provided on the upper end of the support frame 504, a slide rail 502 is fixedly provided in the middle position of the bottom surface of the top plate 501, a linear motor 505 is slidably provided on the surface of the slide rail 502, a third telescopic rod 506 is fixedly provided in the middle position of the bottom surface of the linear motor 505, a first motor housing 507 is fixedly provided at the bottom end of the third telescopic rod 506, a rotating motor 503 is fixedly provided inside the first motor housing 507, a cleaning cover 508 is fixedly provided at the output end of the rotating motor 503, and a cleaning brush 509 is fixedly provided on the inner surface of the cleaning cover 508.

[0039] Specifically, by providing a slide rail 502 and a linear motor 505, it is convenient for the user to adjust the position of the cleaning cover 508 so that the camera 6 and the laser radar 1 can be cleaned respectively. By providing a third telescopic rod 506, it is convenient to lower the cleaning cover 508 for cleaning. By providing a rotating motor 503, combined with the cleaning cover 508 and the cleaning brush 509, it is beneficial to realize the basic cleaning function of the device when it is used.

[0040] The front push shovel mechanism 9 includes a first guide groove 902, a second guide groove 905 and two lifting blocks 903. A second motor housing 908 is fixedly arranged at the bottom end of the first guide groove 902, a second servo motor 909 is fixedly arranged inside the second motor housing 908, a threaded rod 901 is fixedly arranged at the output end of the second servo motor 909, a sliding rod 906 is fixedly arranged inside the second guide groove 905, one of the two lifting blocks 903 is threadedly arranged on the surface of the threaded rod 901, and the other of the two lifting blocks 903 is slidably arranged on the surface of the sliding rod 906, a fourth telescopic rod 907 is fixedly arranged on one side of the two lifting blocks 903, and a front bucket 904 is fixedly arranged at one end of the two fourth telescopic rods 907.

[0041] Specifically, by providing a second servo motor 909 and a threaded rod 901, combined with a slide rod 906, it is convenient for a user to adjust the positions of the two lifting blocks 903, thereby realizing the function of adjusting the position of the front bucket 904 when the device is used, which is beneficial to ensure that the front bucket 904 can be close to the ground for waste cleaning. At the same time, it can prevent obstacles from causing damage to the front bucket. By providing a fourth telescopic rod 907, it is convenient for a user to adjust the extended length of the front bucket 904 so that it can be extended into a relatively narrow space.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A crawler-type ground slag pushing robot, comprising a moving mechanism (4), characterized in that: An upper cover (7) is fixedly arranged on the upper end of the moving mechanism (4); a camera (6) is fixedly arranged on one side of the upper end of the upper cover (7); a data transmitter (2) is fixedly arranged on the other side of the upper end of the upper cover (7); a laser radar (1) is fixedly arranged at the middle position of the upper end of the upper cover (7); and cleaning mechanisms (5) are fixedly arranged at the four corners of the upper end of the upper cover (7); A front push shovel mechanism (9) is fixedly arranged at one end of the moving mechanism (4), a rear push shovel mechanism (3) is fixedly arranged at the other end of the moving mechanism (4), and lifting rings (8) are fixedly arranged at the four corners of the upper end of the moving mechanism (4).

2. A crawler-type ground slag pushing robot according to claim 1, characterized in that: The rear push shovel mechanism (3) comprises a rear shovel plate (301), a slide groove (303) is provided on one side surface of the rear shovel plate (301), a second hinged member (306) is fixedly provided at the middle position of the slide groove (303), and a connecting rod (307) is hingedly provided at one end of the second hinged member (306).

3. A crawler-type ground slag pushing robot according to claim 2, characterized in that: Two first hinged members (302) are slidably arranged inside the slide groove (303), one end of each of the two first hinged members (302) is hingedly provided with a connecting head (304), and one end of each of the two connecting heads (304) is fixedly provided with a first telescopic rod (305).

4. The crawler-type ground slag pushing robot according to claim 1, characterized in that: The moving mechanism (4) comprises a protective shell (408), two mounting seats (413) are fixedly arranged on one side of the interior of the protective shell (408), first servo motors (412) are fixedly arranged on the surfaces of the two mounting seats (413), and driving wheels (415) are fixedly arranged on the output ends of the two first servo motors (412).

5. The crawler-type ground slag pushing robot according to claim 4, characterized in that: A telescopic cylinder (409) is fixedly arranged on the other side of the inner bottom surface of the protective shell (408); a rotating seat (410) is fixedly arranged on the output end of the telescopic cylinder (409); a driven connecting rod (407) is rotatably arranged inside the rotating seat (410); driven wheels (402) are fixedly arranged at both ends of the driven connecting rod (407); and tracks (401) are wound around the outer surfaces of the driving wheel (415) and the driven wheel (402).

6. The crawler-type ground slag pushing robot according to claim 4, characterized in that: A connecting plate (403) is fixedly provided at the middle position of the outer walls on both sides of the protective shell (408), a second telescopic rod (404) is fixedly provided at the center of the bottom surface of the two connecting plates (403), a supporting platform (405) is fixedly provided at the bottom end of the two second telescopic rods (404), four auxiliary wheels (406) are rotatably provided on the bottom surfaces of the two supporting platforms (405), a battery (414) is fixedly provided at the middle position of the inner bottom surface of the protective shell (408), and a movable groove (411) is provided at one side of the outer walls on both sides of the protective shell (408).

7. The crawler-type ground slag pushing robot according to claim 1, characterized in that: The cleaning mechanism (5) comprises a support frame (504), a top plate (501) is fixedly arranged on the upper end of the support frame (504), a slide rail (502) is fixedly arranged at the middle position of the bottom surface of the top plate (501), and a linear motor (505) is slidably arranged on the surface of the slide rail (502).

8. The crawler-type ground slag pushing robot according to claim 7, characterized in that: A third telescopic rod (506) is fixedly arranged at the middle position of the bottom surface of the linear motor (505); a first motor housing (507) is fixedly arranged at the bottom end of the third telescopic rod (506); a rotating motor (503) is fixedly arranged inside the first motor housing (507); a cleaning cover (508) is fixedly arranged at the output end of the rotating motor (503); and a cleaning brush (509) is fixedly arranged on the inner surface of the cleaning cover (508).

9. The crawler-type ground slag pushing robot according to claim 1, characterized in that: The front push shovel mechanism (9) comprises a first guide groove (902), a second guide groove (905) and two lifting blocks (903); a second motor housing (908) is fixedly arranged at the bottom end of the first guide groove (902); a second servo motor (909) is fixedly arranged inside the second motor housing (908); a threaded rod (901) is fixedly arranged at the output end of the second servo motor (909); and a sliding rod (906) is fixedly arranged inside the second guide groove (905).

10. The crawler-type ground slag pushing robot according to claim 9, characterized in that: One of the two lifting blocks (903) is threadedly arranged on the surface of the threaded rod (901), and the other of the two lifting blocks (903) is slidably arranged on the surface of the sliding rod (906). A fourth telescopic rod (907) is fixedly arranged on one side of the two lifting blocks (903), and a front bucket (904) is fixedly arranged on one end of the two fourth telescopic rods (907).

Images