Automatic cleaning and fallen material collecting device suitable for chassis robot

Abstract

The invention discloses an automatic sweeping and fallen material collecting device suitable for a chassis robot. The automatic sweeping and fallen material collecting device comprises a sweeping device (1) and a material storage device (3), wherein the sweeping device (1) is used for collecting swept objects to the front position of the chassis robot by driving a sweeping brush (1-7), and the material storage device (3) is used for collecting the swept objects. The cleaned objects gathered to the front position of the chassis robot are conveyed to the storage device through a conveying device (2), and the conveying device (2) at least comprises a slope type shovel head which is driven by the chassis robot and can shovel the cleaned objects gathered to the front position of the chassis robot.

Description

Technical Field

[0001] The present invention relates to a device for automatically cleaning and collecting dropped and scattered materials under a belt conveyor during heavy cleaning operations generated in raw material transportation and other links in industries such as steel, and more specifically, to an automatic cleaning and dropped material collection device suitable for a chassis robot. Background Art

[0002] In the metallurgical process of steel mills, raw materials usually arrive via docks or railways, are transported to stockpiling points by belt conveyors, and then transported to various production points. In this process, a large amount of falling, spilling and accumulation of materials will occur. If not cleaned in time, it will affect the normal operation of the belt conveyor.

[0003] At present, most steel mills use manual cleaning to clean the spilled materials along the belt conveyor. The manual work is large, the environmental dust is harmful to the human body, and belt conveyor safety accidents occur frequently. In order to complete the cleaning of spilled materials more efficiently, more intelligently and more safely, it is necessary to develop an automatic cleaning and collection device suitable for chassis robots.

[0004] In the prior art, for example, the device described in the Chinese patent document CN104294785A, “A multi-purpose sweeper”, is provided to clean by means of an exposed motor-driven sweeping brush, and the front production structure is used to shovel or push away earth mounds or stones. It requires battery power, which greatly reduces the cleaning time, but it cannot adapt to the huge workload of industrial cleaning of belt conveyors. Secondly, for high-dust working environments, the exposed motor not only poses operational risks but also increases the equipment maintenance rate. Judging from the storage space and the operating mode that requires manual operation, it is also not applicable to the operating scenarios in this article.

[0005] In addition, for example, the device described in “A small road sweeper” provided by Chinese patent document CN103334396A sucks the cleaned materials into a storage box inside the vehicle body by setting a vacuum cleaner behind the roller brush. Similarly, a power supply system is required to power the vacuum cleaner, which limits the battery life. The operating mode is manual pushing, which cannot meet the operational requirements. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a device suitable for automatic cleaning and collection of fallen materials for a chassis robot, which enables the chassis robot to drive a cleaning device, a conveying device and a storage device through its own power to perform automatic cleaning and collection of fallen materials, thereby meeting the operational requirements while improving endurance and operational efficiency.

[0007] The technical problem to be solved can be implemented through the following technical solutions.

[0008] A device for automatically cleaning and collecting dropped materials suitable for a chassis robot, characterized in that it comprises a cleaning device (1) for collecting the cleaned materials to a position in front of the chassis robot by driving a cleaning brush (1-7) and a storage device (3) for collecting the cleaned materials; the cleaned materials collected to a position in front of the chassis robot are transported to the storage device via a conveying device (2), and the conveying device (2) comprises at least one sloped shovel head driven by the chassis robot and capable of scooping up the cleaned materials collected to a position in front of the chassis robot.

[0009] As a further improvement of the technical solution, the cleaning brush (1-7) is a group of rotating cleaning brushes arranged on two opposite sides in front of the chassis robot.

[0010] Preferably, the cleaning device (1) comprises a first traveling wheel (1-1), the first traveling wheel (1-1) being positioned on a first wheel axle (1-2), a cleaning surface gear (1-3) being coaxial with the first traveling wheel (1-1) on the first wheel axle (1-2) and being fixed relative to the wheel axle; a cleaning spur gear (1-4) meshing with the cleaning surface gear (1-3) being fixed on a spur gear shaft (1-5); and the cleaning brush (1-7) being fixed on the spur gear shaft (1-5) and rotating with the rotation of the spur gear shaft.

[0011] Further preferably, the spur gear shaft (1-5) is connected to the chassis robot via a shock absorbing device.

[0012] Preferably, the conveying device (2) comprises a second traveling wheel (2-1), the second traveling wheel (2-1) is positioned on a second wheel axle (2-2), and the wheel spur gear (2-3) and the second traveling wheel (2-1) are coaxially connected to the second wheel axle (2-2) and relatively fixed;

[0013] The conveying device (2) has a conveyor belt, the conveying shaft of which rotates with the rotation of the wheel spur gear (2-3), and the cleaned materials scooped up by the slope-type shovel head fall into the front end of the conveyor belt and are transmitted to the storage device (3) via the conveyor belt.

[0014] Preferably, the storage device (3) comprises a storage box (3-10) placed on the trailer, the trailer has a set of third traveling wheels (3-1), the wheel face gear (3-4) and at least one third traveling wheel (3-1) are coaxial with the third wheel axle (3-2) and relatively fixed, and rotate with the rotation of the wheel axle; it also comprises a spiral material elevator (3-5), the material inlet (3-7) at the bottom of the spiral material elevator (3-5) is used to receive the cleaning material conveyed by the conveying device (2), and the outlet (3-8) at the top of the spiral material elevator (3-5) is opposite to the feed port of the storage box (3-10); the spiral rotating shaft of the spiral material elevator (3-5) is connected and fixed with a hoist spur gear (3-9), the hoist spur gear (3-9) is meshed with the wheel face gear (3-4) and rotates with the rotation of the wheel face gear (3-4).

[0015] Preferably, the trailer or storage box is connected to the chassis robot in a replaceable manner.

[0016] Preferably, the material storage box (3-10) has a rear cover plate (3-14), and the material storage box (3-10) has a box flipping and dumping mechanism for facilitating dumping of the cleaned materials stored in the box.

[0017] Furthermore, the conveying device (2) is connected and fixed to the lower part of the chassis robot via a positioning bracket body, and the positioning bracket body includes an upper sealing plate (2-9). The upper sealing plate (2-9) is arranged on the upper part of the conveyor belt to prevent the conveyed objects on the conveyor belt from directly contacting the bottom of the chassis robot.

[0018] Preferably, the inclination angle of the sloped shovel head is adjustable.

[0019] The automatic cleaning and material collection device for chassis robots using the above technical solution can enable the chassis robot to drive the cleaning device, conveying device and storage device through its own power to automatically clean and collect the materials. The use of this technical solution can enable the chassis robot operating on the belt conveyor site to complete the cleaning of the materials. At the same time, since the invention mainly achieves the design purpose by mechanical means, it can greatly improve the endurance of the chassis robot, reduce the operation failure rate and maintenance rate, make the operation process more controllable and reliable, and provide a beneficial effect for the cleaning operation on the belt conveyor site. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall schematic diagram of the device for automatically cleaning and collecting falling materials applicable to a chassis robot of the present invention;

[0021] Figure 2 It is an overall schematic diagram of the present invention (excluding the chassis robot);

[0022] Figure 3 is a front view of the cleaning device of the present invention;

[0023] Figure 4 It is a front view of the cleaning device (without the cleaning brush) of the present invention;

[0024] Figure 5 is a side view of the conveying device of the present invention;

[0025] Figure 6 is a side view of the storage device (in a reset state) of the present invention;

[0026] Figure 7 It is a side view of the material storage device (in the material pouring state) of the present invention;

[0027] Figure 8 It is a transmission schematic diagram of a material storage device-micro screw elevator of the present invention; DETAILED DESCRIPTION

[0028] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0029] Please combine Figures 1 to 8 As shown, the present invention provides a device suitable for automatically cleaning and collecting fallen materials of a chassis robot, and the device can be divided into three parts: a cleaning device 1, a conveying device 2 and a storage device 3. The cleaning device collects the dust in front of the chassis robot's route to the middle area, and then the dust is transported to the storage device through the conveying device. When the designated dumping location is reached, the material in the storage device is dumped out to complete a single operation.

[0030] There are two groups of cleaning devices 1, which are arranged on opposite sides of the front position of the chassis robot in the forward direction. Each group is connected and fixed to the chassis robot through a mounting rod. Each group of cleaning devices 1 includes:

[0031] There are two traveling wheels 1-1, which are connected by a wheel shaft 1-2, and the contact surface is consistent with the wheels or tracks of the chassis robot; the rotation of the traveling wheel 1-1 will drive the wheel shaft 1-2 to rotate together.

[0032] The cleaning surface gear 1-3 is coaxial with the traveling wheel 1-1 on the wheel axle 1-2, and is relatively fixed to the wheel axle 1-2, and rotates with the rotation of the wheel axle 1-2.

[0033] The cleaning spur gear 1-4 is fixed to the spur gear shaft 1-5, cooperates with the cleaning surface gear 1-3, and rotates with the rotation of the cleaning surface gear 1-3.

[0034] The spur gear shaft 1-5 is connected to the wheel shaft 1-2 through the wheel shaft connector 1-6, and is kept in a fixed position connection on the premise of satisfying the transmission relationship between the cleaning surface gear 1-3 and the cleaning spur gear 1-4.

[0035] The cleaning brush 1-7 is fixed to the spur gear shaft 1-5, and rotates with the rotation of the spur gear shaft 1-5, so that the rotation of the traveling wheel 1-1 can cause the rotation of the cleaning brush 1-7; the contact surface of the cleaning brush 1-7 is slightly lower than the contact surface of the traveling wheel 1-1.

[0036] The buffer rod 1-8 is connected to the spur gear shaft 1-5 through the buffer rod lower adapter 1-9. The buffer rod 1-8 has a certain compression stroke and can filter a certain degree of bumps during driving (i.e., it serves as a shock absorbing device).

[0037] The buffer rod lower adapter 1-9 is connected to the buffer rod 1-8 at one end and relatively fixed, and is connected to the spur gear shaft 1-5 at the other end, which only limits the movement of the spur gear shaft 1-5 in the longitudinal axis direction of the buffer rod lower adapter 1-9, that is, the spur gear shaft 1-5 can rotate freely under this connection form.

[0038] The buffer rod upper adapter 1-10 has one end fixedly connected to the buffer rod 1-8 and the other end connected to the cleaning device mounting member 1-11 fixed to the chassis robot, and the angle between them can be adjusted and fixed. The buffer rod upper adapter 1-10 can control the spacing between the two groups of cleaning devices, and can be adjusted and fixed according to actual operation requirements.

[0039] The buffer device selected for the cleaning device is not limited to being composed of a buffer rod, as long as it is a device that can buffer the bumps of the ground.

[0040] For the conveying device 2, it includes:

[0041] There are 4 traveling wheels 2-1 in total, 2 in a group, 1 group at the front and 1 group at the back, connected by wheel axles 2-2, and the ground contact surface is consistent with the wheels or tracks of the chassis robot. The rotation of the traveling wheels 2-1 will drive the wheel axles 2-2 to rotate together.

[0042] The wheel spur gear 2-3 is coaxial with the wheel axle 2-2 together with the traveling wheel 2-1 and is relatively fixed, and rotates with the rotation of the wheel axle 2-2.

[0043] There are two belt rotating shafts 2-4, one at the head and the other at the tail of the belt, which can drive the belt 2-6 to rotate by rotating themselves.

[0044] The belt rotating shaft spur gear 2-5 is fixed on the belt rotating shaft 2-4, cooperates with the wheel spur gear 2-3, and rotates with the rotation of the wheel spur gear 2-3.

[0045] The belt 2-6 can perform a cyclic rotation operation around the belt rotating shaft 2-4, so that the rotation of the traveling wheel 2-1 can form the rotation of the belt 2-6.

[0046] The front ramp 2-7 is arranged at the front part of the device, and can shovel the dust on the ground into the front end of the belt 2-6 during the forward process, and transport it to the rear end of the belt 2-6 as the belt 2-6 rotates.

[0047] The rear ramp 2-8 is arranged at the rear of the device, and can slide the dust transported by the belt 2-6 into the next device.

[0048] The belt upper sealing plate 2-9 is fixed to the top of the device and is provided with a mounting hole so that it can be connected and installed at the bottom of the chassis robot 4 while preventing the material transported by the belt 2-6 from directly contacting the bottom of the chassis robot 4.

[0049] The conveying device selected for the conveying device is not limited to being composed of a belt, as long as it can meet the requirements of conveying materials.

[0050] The front slope assembly component 2-10 is used to fix the front slope 2-7 to the device, and its lowest surface can be adjusted to a certain height to meet different needs. The lowest surface of the front slope assembly component can be adjusted to a certain height, and a buffer device can also be installed to ensure the passability of the entire device on complex roads.

[0051] The rear slope assembly component 2-11 is used to fix the rear slope 2-8 to the device, and its lowest surface can be adjusted in height to meet different needs.

[0052] The storage device 3 is arranged at the rear of the chassis robot, and the mounting bracket is connected to the chassis robot, which includes:

[0053] There are 4 traveling wheels 3-1 in total, 2 in a group, 1 group at the front and 1 group at the back. The front group is connected via a wheel axle 3-2 and fixed on a storage chassis 3-3, and the contact surface is consistent with the wheels or tracks of the chassis robot.

[0054] The wheel face gear 3-4 is coaxial with the wheel axle 3-2 together with the traveling wheel 3-1 and is relatively fixed, and rotates with the rotation of the wheel axle 3-2.

[0055] The miniature spiral material elevator 3-5 is arranged at the front of the storage device 3, and its bottom material inlet 3-7 matches the rear slope 2-8 of the conveying device 2. The top is provided with a slope outlet 3-8, which can transport the material at the bottom inlet 3-7 to the top slope outlet 3-8 through its own rotation.

[0056] The hoist spur gear 3-9 is arranged at the bottom of the micro spiral material hoist 3-5, and cooperates with the wheel face gear 3-4, and rotates with the rotation of the wheel face gear 3-4; the rotation of the traveling wheel 3-1 can form the rotation of the micro spiral material hoist 3-5. The hoisting device selected for the storage device is not limited to being composed of a spiral hoist, as long as it can meet the requirements of lifting materials from a low place to a high place through transmission rotation.

[0057] The material storage box 3-10 is located above the material storage chassis 3-3 and can be dumped around the material storage box rotating shaft 3-11 at the rear of the material storage chassis 3-3.

[0058] The storage box is placed with a limiting component 3-12, which is located at the front lower part of the storage box 3-10 and is used as a limit when the storage box 3-10 returns to the initial position after the dumping operation is completed.

[0059] The electric cylinder 3-13 is arranged at the front of the material storage box 3-10, and its bottom is fixed to the material storage chassis 3-3, and its top is fixed to the material storage box 3-10. The extension and contraction of the electric cylinder 3-13 will drive the rotation, tilting and return of the material storage box 3-10. The electric cylinder can also be replaced by a pneumatic cylinder or other controllable devices for extension and contraction.

[0060] The rear cover plate 3-14 of the material storage box is located at the rear portion of the material storage box 3-10 and can be rotated to open and close the inside of the material storage box 3-10.

[0061] Electromagnetic chuck 3-15, is located at the rear of material storage box 3-10, can limit the opening and closing state of material storage box rear cover plate 3-14 by the generation and disappearance of magnetic force. This electromagnetic chuck can also be replaced by pneumatic permanent magnetic chuck or other devices that can be used for limiting the opening and closing state of objects.

[0062] The weight sensor 3-16 is installed on the storage box placement limit component 3-12 and is used to detect the weight of the accumulated materials in the storage box 3-10.

[0063] The fixed brackets 3-17 and 3-18 are respectively installed on the chassis robot 4 and the storage chassis 3-3, and are connected by the pin 3-19, so that the storage device can move along with the movement of the chassis robot 4.

[0064] On the other hand, reference Figures 1 to 8 The device for automatically cleaning and collecting falling materials of the chassis robot of the present invention may include, but is not limited to, the following steps:

[0065] 1) When the chassis robot 4 equipped with the automatic cleaning and falling material collecting device starts to operate, it means that the cleaning device 1, the conveying device 2 and the storage device 3 in the device will start to operate in the same moving direction as the chassis robot 4.

[0066] 2) The traveling wheel 1-1 rotates as the chassis robot 4 moves forward, and the cleaning surface gear 1-3 sharing the wheel shaft 1-2 with the traveling wheel 1-1 rotates synchronously.

[0067] 3) As the cleaning surface gear 1-3 rotates, the cleaning spur gear 1-4 also rotates.

[0068] 4) The cleaning brush 1-7 of the spur gear shaft 1-5 rotates synchronously with the cleaning spur gear 1-4.

[0069] 5) Since in the two cleaning devices 1, the positional relationship between the cleaning surface gear 1-3 and the cleaning spur gear 1-4 is a mirror image relationship, it means that when the traveling wheels 1-1 rotate in the same direction, the rotation directions of the spur gear shafts 1-5 are different, that is, the rotation directions of the cleaning brushes 1-7 are different. In this invention, as the traveling wheels 1-1 roll forward, the rotation of the cleaning brush 1-7 tends to gather the road dust between the two, that is, at the front slope 2-7 of the conveying device 2.

[0070] 6) As the chassis robot 4 moves forward, the dust is shoveled onto the belt 2 - 6 by the front slope 2 - 7 of the conveying device 2 .

[0071] 7) The traveling wheel 2-1 rotates as the chassis robot 4 moves forward, and the wheel spur gear 2-3 of the wheel shaft 2-2 that is shared with the traveling wheel 2-1 rotates synchronously. Through the transmission of the belt rotating shaft spur gear 2-5, the belt rotating shaft 2-4 also rotates synchronously, and drives the belt 2-6 to rotate.

[0072] 8) The dust is transported to the rear slope 2-8 as the belt 2-6 rotates, and slides into the material inlet 3-7 at the bottom of the spiral material elevator 3-5.

[0073] 9) The traveling wheel 3-1 rotates as the chassis robot 4 moves forward, and the wheel face gear 3-4 sharing the same wheel axle 3-2 with the traveling wheel 3-1 rotates synchronously.

[0074] 10) As the wheel face gear 3-4 rotates, the spiral blade 3-6 in the spiral material elevator 3-5 also rotates through the transmission of the elevator spur gear 3-9, and lifts the dust entering the bottom material inlet 3-7 to the slope outlet 3-8 and slides into the storage box 3-10.

[0075] 11) When the chassis robot 4 completes a single cleaning task or the weight sensor 3-16 detects that the material accumulated in the storage box 3-10 has reached the process unloading limit, the chassis robot 4 stops working and drives to the designated unloading point.

[0076] 12) When the chassis robot 4 reaches the designated unloading point, the electric cylinder 3-13 starts and lifts the storage box 3-10 to the unloading state.

[0077] 13) After the electric cylinder 3-13 is in place, the electromagnetic chuck 3-15 turns to the demagnetized state, the rear cover 3-14 of the storage box opens due to gravity, and the materials in the storage box 3-10 are dumped out.

[0078] 14) After completing a single material unloading process, the electric cylinder 3-13 returns to the initial state, and the electromagnetic suction cup 3-15 turns to the upper magnetic state. At this time, the weight sensor 3-16 starts to detect the material storage box. If it is detected that there is still material in the material storage box 3-10, repeat steps 12) and 13). After repeating twice, if material is still detected, an error is reported through the program, and maintenance personnel are called for inspection; if the test result is that there is no material in the material storage box 3-10, the unloading operation is completed, and the chassis robot 4 continues the cleaning task or drives to the standby position to wait for the next operation to start.

[0079] The transmission in the present invention is not limited to the form between face gears and spur gears and spur gears and spur gears, and can also be transmitted in other forms. The device of the present invention is not limited to cleaning the falling and spilling materials in the belt conveyor area, but can also be used to clean other areas.

[0080] To sum up, the present invention is a device suitable for automatic cleaning and falling material collection of a chassis robot, which can enable the chassis robot to drive the cleaning device, conveying device and storage device through its own power to perform automatic cleaning and falling material collection operations, which can greatly improve the endurance of the chassis robot, reduce the operation failure rate and maintenance rate, make the operation process more controllable and reliable, and can provide a beneficial effect on the cleaning operation of the belt conveyor on site.

[0081] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, any changes or modifications to the above embodiments will fall within the scope of the claims of the present invention.

Claims

1. A device suitable for automatic cleaning and collection of falling materials of a chassis robot, characterized in that: The invention comprises a cleaning device (1) for collecting cleaning materials to a position in front of a chassis robot by driving a cleaning brush (1-7) and a storage device (3) for collecting cleaning materials; the cleaning materials collected to a position in front of the chassis robot are transported to the storage device via a conveying device (2), and the conveying device (2) comprises at least a sloped shovel head driven by the chassis robot and capable of scooping up the cleaning materials collected to a position in front of the chassis robot.

2. The device for automatically cleaning and collecting falling materials suitable for a chassis robot according to claim 1, characterized in that: The cleaning brushes (1-7) are a group of rotating cleaning brushes arranged on two opposite sides in front of the chassis robot.

3. The device for automatically cleaning and collecting falling materials suitable for a chassis robot according to claim 1 or 2, characterized in that: The cleaning device (1) comprises a first traveling wheel (1-1), the first traveling wheel (1-1) being positioned on a first wheel axle (1-2), a cleaning surface gear (1-3) being coaxial with the first traveling wheel (1-1) on the first wheel axle (1-2) and being fixed relative to the wheel axle; a cleaning spur gear (1-4) meshing with the cleaning surface gear (1-3) being fixed on a spur gear shaft (1-5); and the cleaning brush (1-7) being fixed on the spur gear shaft (1-5) and rotating with the rotation of the spur gear shaft.

4. The device for automatically cleaning and collecting falling materials suitable for a chassis robot according to claim 3, characterized in that: The spur gear shaft (1-5) is connected to the chassis robot via a shock absorbing device.

5. The automatic cleaning and falling material collecting device for chassis robot according to claim 1 is characterized in that: The conveying device (2) comprises a second traveling wheel (2-1), the second traveling wheel (2-1) is positioned on a second wheel axle (2-2), and the wheel spur gear (2-3) and the second traveling wheel (2-1) are coaxially connected to the second wheel axle (2-2) and relatively fixed; The conveying device (2) has a conveyor belt, the conveying shaft of which rotates with the rotation of the wheel spur gear (2-3), and the cleaned materials scooped up by the slope-type shovel head fall into the front end of the conveyor belt and are transmitted to the storage device (3) via the conveyor belt.

6. The device for automatically cleaning and collecting falling materials suitable for a chassis robot according to claim 1 or 5, characterized in that: The storage device (3) comprises a storage box (3-10) placed on the trailer, the trailer has a set of third traveling wheels (3-1), the wheel face gear (3-4) and at least one third traveling wheel (3-1) are coaxially connected to the third wheel axle (3-2) and relatively fixed, and rotate with the rotation of the wheel axle; it also comprises a spiral material elevator (3-5), the material inlet (3-7) at the bottom of the spiral material elevator (3-5) is used to receive the cleaning material conveyed by the conveying device (2), and the outlet (3-8) at the top of the spiral material elevator (3-5) is directly opposite to the feed port of the storage box (3-10); the spiral rotating shaft of the spiral material elevator (3-5) is connected and fixed with an elevator spur gear (3-9), the elevator spur gear (3-9) is meshed with the wheel face gear (3-4) and rotates with the rotation of the wheel face gear (3-4).

7. The automatic cleaning and falling material collecting device for chassis robot according to claim 6, characterized in that: The trailer or storage box is connected to the chassis robot in a replaceable manner.

8. The automatic cleaning and falling material collecting device for chassis robot according to claim 6, characterized in that: The material storage box (3-10) has a rear cover plate (3-14), and the material storage box (3-10) has a box body flipping and dumping mechanism for facilitating dumping of the cleaned materials stored in the box body.

9. The automatic cleaning and falling material collecting device for chassis robot according to claim 5, characterized in that: The conveying device (2) is connected and fixed to the lower part of the chassis robot via a positioning bracket body, and the positioning bracket body includes an upper sealing plate (2-9). The upper sealing plate (2-9) is arranged on the upper part of the conveyor belt to prevent the conveyed objects on the conveyor belt from directly contacting the bottom of the chassis robot.

10. The automatic cleaning and falling material collecting device for chassis robot according to claim 5, characterized in that: The inclination angle of the slope type shovel head is adjustable.

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