Suspended tendon-driven robot system for cleaning scars on the inner wall of sedimentation tanks

Abstract

The present invention relates to the field of robot technology, and specifically discloses a suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank, comprising a parallel suspension platform, a robotic arm and a cleaning device; the head end of the robotic arm is fixedly configured on the parallel suspension platform; the cleaning device is fixedly configured on the end of the robotic arm, and the cleaning device includes a telescopic device, a rotating platform, a pitching platform, a global camera, an air pick and an angle-adjustable water gun; the pitching platform is fixedly configured on the output end of the telescopic device; the rotating platform is fixedly configured on the pitching platform; the angle-adjustable water gun and the air pick are both fixedly configured on the rotating platform, and the rotating platform is used to drive the angle-adjustable water gun and the air pick to rotate; the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank can realize the cleaning of scars in medium and large sedimentation tanks, and has wide adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank. Background Art

[0002] During the production process of an alumina plant, a large amount of hard aluminum hydroxide scars will be produced in the sedimentation tank. After the sedimentation tank reaches the cleaning cycle, the tank needs to be isolated, a large amount of liquid alkali is injected, the temperature is raised to 90°C, and alkali boiling is carried out for 45 days; then, manual entry is made to the bottom of the tank to manually clean the accumulated mud accumulated at the bottom of the tank during the alkali boiling process to the outside of the tank. At the same time, there are problems such as long high-temperature alkali boiling cycle, difficulty in consuming waste alkali, low manual cleaning efficiency, and safety hazards.

[0003] At present, the cleaning of scabs inside the sedimentation tank generally uses a hoisting hydraulic cylinder, which allows the scraping knife to move up and down, rotate horizontally, move laterally and rotate vertically inside the sedimentation tank body, so that the scraping knife can remove the scabs inside the sedimentation tank body and discharge the scabs from the discharge port after cleaning. However, this method is only suitable for medium and small square sedimentation tanks, and the efficiency of cleaning the conical slope at the bottom of the sedimentation tank is low, and it is difficult to clean the scabs on the surface of the rake. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank, which can realize the cleaning of scars on medium and large sedimentation tanks and has wide adaptability.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] A suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank comprises a parallel suspension platform, a robotic arm and a cleaning device.

[0007] The head end of the robotic arm is fixedly arranged on the parallel suspension platform, and the parallel suspension platform is used to drive the robotic arm to move up and down and rotate.

[0008] The cleaning device is fixedly arranged at the end of the robotic arm, and the cleaning device includes a telescopic device, a rotating platform, a pitching platform, a global camera, a pneumatic pick and an angle-adjustable water gun.

[0009] The pitching platform is fixedly arranged at the output end of the telescopic device.

[0010] The rotating platform is fixedly configured on the pitching platform, and the pitching platform is used to drive the rotating platform to pitch.

[0011] The angle-adjustable water gun and the pneumatic pick are both fixedly arranged on the rotating platform, and the rotating platform is used to drive the angle-adjustable water gun and the pneumatic pick to rotate.

[0012] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, the parallel suspension platform includes a fixed platform, a sliding platform and a suspension rope.

[0013] A winding device is provided on the fixed platform, and the fixed platform is used to be fixed on the stirring shaft of the sedimentation tank.

[0014] One end of the suspension rope is fixedly connected to the winding device, and the other end of the suspension rope is fixedly connected to the sliding platform.

[0015] The sliding platform is provided with a clamping mechanism, and the clamping mechanism is used to clamp the stirring shaft of the sedimentation tank.

[0016] The clamping mechanism has a sliding assembly, and the clamping mechanism is slidably connected to the stirring shaft of the sedimentation tank through the sliding assembly.

[0017] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, the clamping mechanism includes a first swing arm, a second swing arm and a first drive motor.

[0018] The first swing arm and the second swing arm are linked together, and the first swing arm or the second swing arm is connected to the first drive motor.

[0019] The first drive motor is used to drive the first swing arm and the second swing arm to open or close.

[0020] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, the robotic arm is a tendon-driven robotic arm.

[0021] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided in at least one embodiment of the present disclosure, the tendon-driven robot arm includes a first double-degree-of-freedom joint, a second double-degree-of-freedom joint, a first truss arm section, a second truss arm section and a third truss arm section.

[0022] The first double-degree-of-freedom joint is arranged between the first truss boom section and the second truss boom section, and the first truss boom section and the second truss boom section are movably connected through the first double-degree-of-freedom joint.

[0023] The second double-degree-of-freedom joint is arranged between the second truss boom section and the third truss boom section, and the second truss boom section and the third truss boom section are movably connected via the second double-degree-of-freedom joint.

[0024] A first rope drive device and a second rope drive device are respectively provided at the head end and the tail end of the second truss boom section. The first rope drive device and the second rope drive device respectively have a first driving rope and a second driving rope.

[0025] Both ends of the first driving rope are fixedly connected to the first truss arm section, and the first driving rope is slidably connected to the first double-degree-of-freedom joint.

[0026] Both ends of the second driving rope are fixedly connected to the third truss arm section, and the second driving rope is slidably connected to the second double-degree-of-freedom joint.

[0027] A third rope drive device is provided at the end of the first truss boom section. The third rope drive device has a third drive rope. Both ends of the third drive rope are fixedly connected to the head end of the second truss boom section.

[0028] The end of the third truss boom section is provided with a fourth rope drive device, and the fourth rope drive device has a fourth drive rope. Both ends of the fourth drive rope are fixedly connected to the end of the second truss boom section.

[0029] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, the angle-adjustable water gun includes an assembly frame, a nozzle, and a second drive motor.

[0030] The assembly frame is fixedly connected to the end of the first truss arm section.

[0031] A first rotating shaft is provided on the nozzle, and an output shaft of the second driving motor is belt-driven to the first rotating shaft.

[0032] The first rotating shaft is rotatably connected to the assembly frame, and the second driving motor is fixedly connected to the assembly frame.

[0033] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, the sliding assembly includes a first pneumatic wheel and a second pneumatic wheel.

[0034] The first swing arm and the second swing arm are rotatably connected to the first inflatable wheel and the second inflatable wheel respectively.

[0035] In the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank provided by at least one embodiment of the present disclosure, a driven gear is provided on the nozzle, a second rotating shaft is provided on the assembly frame, a driving gear is provided on the second rotating shaft, and the driving gear and the driven gear are meshed.

[0036] The assembly frame is provided with a third drive motor, and the second rotating shaft is belt-driven to the third drive motor.

[0037] The beneficial effects of the present invention are: it can realize the cleaning of scars in medium and large sedimentation tanks and has wide adaptability.

[0038] The robotic arm flexibly adjusts its working posture to ensure that it can automatically clean the slope at the bottom of the tank layer by layer from the outside to the inside, and can clean scars at any position of the sedimentation tank, reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 creative work.

[0040] Figure 1 This is a usage status diagram of a suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to the present invention.

[0041] Figure 2 The figure is a schematic assembly diagram of a suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to the present invention.

[0042] Figure 3 A three-dimensional diagram of a fixed platform.

[0043] Figure 4 A three-dimensional diagram of the sliding platform.

[0044] Figure 5 It is a structural diagram of the holding mechanism.

[0045] Figure 6 It is a three-dimensional diagram of the cleaning device.

[0046] Figure 7 It is a three-dimensional diagram of an angle-adjustable water gun.

[0047] Figure 8 Schematic diagram of the structure of the robotic arm.

[0048] In the picture:

[0049] 10. Parallel suspension platform; 11. Fixed platform; 12. Sliding platform; 13. Suspension rope; 14. Winding device; 15. Clamping mechanism; 16. Sliding assembly; 151. First swing arm; 152. Second swing arm; 153. First drive motor; 161. First pneumatic wheel; 162. Second pneumatic wheel;

[0050] 20. Robotic arm; 21. First two-degree-of-freedom joint; 22. Second two-degree-of-freedom joint; 23. First truss boom section; 24. Second truss boom section; 25. Third truss boom section; 231. Third rope drive device; 241. First rope drive device; 242. Second rope drive device; 251. Fourth rope drive device;

[0051] 30. Cleaning device; 31. Telescopic device; 32. Rotating platform; 33. Pitching platform; 34. Global camera; 35. Pneumatic pick; 36. Angle-adjustable water gun; 361. Assembly frame; 362. Nozzle; 363. Second drive motor; 364. First rotating shaft; 365. Driven gear; 366. Second rotating shaft; 367. Driving gear; 368. Third drive motor. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0053] This embodiment provides a suspended tendon-driven robotic system for cleaning scabs on the inner walls of a sedimentation tank. Installed on the agitator shaft of a sedimentation tank, it can clean scabs in medium and large-sized sedimentation tanks and has wide adaptability. The robotic arm flexibly adjusts its operating posture to ensure automatic, layer-by-layer cleaning of the inclined surface of the tank bottom from the outside inward, enabling the removal of scabs anywhere on the sedimentation tank, reducing worker workload.

[0054] like Figure 1 and 2 As shown, the suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank includes: a parallel suspension platform 10, a robotic arm 20 and a cleaning device 30.

[0055] The head end of the robot arm 20 is fixedly disposed on the parallel suspension platform 10 , and the parallel suspension platform 10 is used to drive the robot arm 20 to move up and down and rotate.

[0056] The specific structure of the cleaning device 30 will be further described below with reference to the accompanying drawings.

[0057] like Figure 6 and 7 As shown, the cleaning device 30 is fixedly configured at the end of the robotic arm 20. The cleaning device 30 includes a telescopic device 31, a rotating platform 32, a pitching platform 33, a global camera 34, a pneumatic pick 35, and an angle-adjustable water gun 36. The telescopic device 31, the rotating platform 32, and the pitching platform 33 are used in conjunction to adjust the position of the pneumatic pick 35 and the angle-adjustable water gun 36. The pneumatic pick 35 and the angle-adjustable water gun 36 are used to clean the scars inside the tank. The global camera 34 can monitor the working conditions inside the tank in real time and provide feedback to the operator.

[0058] Specifically, the pitching platform 33 is fixedly disposed at the output end of the telescopic device 31. The rotating platform 32 is fixedly disposed on the pitching platform 33, and the pitching platform 33 is used to drive the rotating platform 32 to pitch.

[0059] Specifically, the angle-adjustable water gun 36 and the pneumatic pick 35 are both fixedly disposed on the rotating platform 32 , and the rotating platform 32 is used to drive the angle-adjustable water gun 36 and the pneumatic pick 35 to rotate.

[0060] Specifically, the angle-adjustable water gun 36 includes an assembly frame 361, a nozzle 362, and a second drive motor 363. The nozzle 362 is provided with a first rotating shaft (not shown) and a driven gear 365. The output shaft of the second drive motor 363 is driven by the first rotating shaft via a belt. The first rotating shaft is rotatably connected to the assembly frame 361, and the second drive motor 363 is fixedly connected to the assembly frame 361.

[0061] Specifically, the assembly frame 361 is provided with a second rotating shaft (not shown), on which a driving gear 367 is provided, which meshes with the driven gear 365. The assembly frame 361 is provided with a third driving motor 368, and the second rotating shaft and the third driving motor 368 are driven by a belt.

[0062] The specific structure of the parallel suspension platform 10 will be further described below with reference to the accompanying drawings.

[0063] like Figures 2 to 5 As shown, the parallel suspension platform 10 allows for wide-range adjustment of the robot arm's height. It comprises a fixed platform 11, a sliding platform 12, and suspension cables 13. The fixed platform 11 is positioned high above the agitator shaft, bearing the entire robot's weight. The sliding platform 12 is connected to the fixed platform via suspension cables 13 and can move up and down along the agitator shaft. The entire sliding platform 12 can also rotate slowly along with the central cylinder.

[0064] Specifically, a winding device 14 is provided on the fixed platform 11 . One end of a suspension rope 13 is fixedly connected to the winding device 14 , and the other end of the suspension rope 13 is fixedly connected to the sliding platform 12 .

[0065] Specifically, a clamping mechanism 15 is provided on the sliding platform 12. The clamping mechanism 15 is used to clamp the agitator shaft of the sedimentation tank. The clamping mechanism 15 has a sliding assembly 16. The clamping mechanism 15 is slidably connected to the agitator shaft of the sedimentation tank through the sliding assembly 16.

[0066] Specifically, the clasping mechanism 15 includes a first swing arm 151, a second swing arm 152, and a first drive motor 153. The first swing arm 151 and the second swing arm 152 are engaged in a transmission, and the second swing arm 152 is fixedly connected to the output shaft of the first drive motor 153. The first drive motor 153 is used to drive the first swing arm 151 and the second swing arm 152 to open or close.

[0067] Specifically, the sliding assembly 16 includes a first pneumatic wheel 161 and a second pneumatic wheel 162. The first swing arm 151 and the second swing arm 152 are rotatably connected to the first pneumatic wheel 161 and the second pneumatic wheel 162 respectively.

[0068] The specific structure of the robotic arm 20 will be further described below with reference to the accompanying drawings.

[0069] like Figure 8 As shown, the robotic arm 20 is a tendon-driven robotic arm 20. Tendon-driven robotic arms are lightweight, high-rigidity robotic arms that can bear heavy loads and achieve a wide range of motion. The tendon-driven arm consists of lightweight arm segments and two-degree-of-freedom joints. Multiple rope-driven devices are mounted on the arm, which rotate and retract ropes to achieve motion.

[0070] The tendon-driven robotic arm 20 includes a first double-degree-of-freedom joint 21 , a second double-degree-of-freedom joint 22 , a first truss arm segment 23 , a second truss arm segment 24 and a third truss arm segment 25 .

[0071] Specifically, the first double-degree-of-freedom joint 21 is provided between the first truss boom section 23 and the second truss boom section 24, and the first truss boom section 23 and the second truss boom section 24 are movably connected via the first double-degree-of-freedom joint 21. The second double-degree-of-freedom joint 22 is provided between the second truss boom section 24 and the third truss boom section 25, and the second truss boom section 24 and the third truss boom section 25 are movably connected via the second double-degree-of-freedom joint 22.

[0072] Specifically, the head end and the tail end of the second truss boom section 24 are respectively provided with a first rope drive device 241 and a second rope drive device 242 , which respectively have a first driving rope (not shown) and a second driving rope (not shown).

[0073] Specifically, both ends of the first driving rope are fixedly connected to the first truss arm section 23, and the first driving rope is slidably connected to the first double-degree-of-freedom joint 21 via a pulley.

[0074] Specifically, both ends of the second driving rope are fixedly connected to the third truss arm section 25, and the second driving rope is slidably connected to the second double-degree-of-freedom joint 22 via a pulley.

[0075] Specifically, a third rope drive device 231 is provided at the end of the first truss boom section 23 . The third rope drive device 231 has a third driving rope (not shown). Both ends of the third driving rope are fixedly connected to the head end of the second truss boom section 24 .

[0076] Specifically, a fourth rope drive device 251 is provided at the end of the third truss boom section 25 . The fourth rope drive device 251 has a fourth driving rope. Both ends of the fourth driving rope are fixedly connected to the end of the second truss boom section 24 .

[0077] Specifically, the assembly frame 361 is fixedly connected to the end of the first truss arm section 23 .

[0078] Exemplarily, the first rope drive device 241 and the second rope drive device 242 are both used to control the left and right degrees of freedom, and the third rope drive device 231 and the fourth rope drive device 251 are both used to control the up and down degrees of freedom.

[0079] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless expressly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. A suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank, installed on the stirring shaft of the sedimentation tank, characterized in that: include: Parallel suspension platform, robotic arm and cleaning device; The head end of the robotic arm is fixedly arranged on the parallel suspension platform, and the parallel suspension platform is used to drive the robotic arm to move up and down and rotate; The cleaning device is fixedly arranged at the end of the robotic arm, and the cleaning device includes a telescopic device, a rotating platform, a pitching platform, a global camera, a pneumatic pick and an angle-adjustable water gun; The pitching platform is fixedly arranged at the output end of the telescopic device; The rotating platform is fixedly configured on the pitching platform, and the pitching platform is used to drive the rotating platform to pitch; The angle-adjustable water gun and the pneumatic pick are both fixedly arranged on the rotating platform, and the rotating platform is used to drive the angle-adjustable water gun and the pneumatic pick to rotate; The parallel suspension platform includes a fixed platform, a sliding platform and a suspension rope; The fixed platform is provided with a winding device, and the fixed platform is used to be fixed on the stirring shaft of the sedimentation tank; One end of the suspension rope is fixedly connected to the winding device, and the other end of the suspension rope is fixedly connected to the sliding platform; The sliding platform is provided with a clamping mechanism, and the clamping mechanism is used to clamp the stirring shaft of the sedimentation tank; The clamping mechanism has a sliding assembly, and the clamping mechanism is slidably connected to the stirring shaft of the sedimentation tank through the sliding assembly; The clamping mechanism includes a first swing arm, a second swing arm and a first drive motor; The first swing arm and the second swing arm are linked, and the first swing arm or the second swing arm is connected to the first drive motor; The first drive motor is used to drive the first swing arm and the second swing arm to open or close.

2. A suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to claim 1, characterized in that: The robotic arm is a tendon-driven robotic arm.

3. A suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to claim 2, characterized in that: The tendon-driven mechanical arm comprises a first double-degree-of-freedom joint, a second double-degree-of-freedom joint, a first truss arm section, a second truss arm section and a third truss arm section; The first double-degree-of-freedom joint is arranged between the first truss boom section and the second truss boom section, and the first truss boom section and the second truss boom section are movably connected via the first double-degree-of-freedom joint; The second double-degree-of-freedom joint is provided between the second truss boom section and the third truss boom section, and the second truss boom section and the third truss boom section are movably connected via the second double-degree-of-freedom joint; A first rope drive device and a second rope drive device are respectively provided at the head end and the tail end of the second truss boom section, and the first rope drive device and the second rope drive device respectively have a first driving rope and a second driving rope; Both ends of the first driving rope are fixedly connected to the first truss arm section, and the first driving rope is slidably connected to the first two-degree-of-freedom joint; Both ends of the second driving rope are fixedly connected to the third truss arm section, and the second driving rope is slidably connected to the second double-degree-of-freedom joint; A third rope drive device is provided at the end of the first truss boom section, and the third rope drive device has a third drive rope, and both ends of the third drive rope are fixedly connected to the head end of the second truss boom section; The end of the third truss boom section is provided with a fourth rope drive device, and the fourth rope drive device has a fourth drive rope. Both ends of the fourth drive rope are fixedly connected to the end of the second truss boom section.

4. A suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to claim 3, characterized in that: The angle-adjustable water gun includes an assembly frame, a nozzle and a second drive motor; The assembly frame is fixedly connected to the end of the first truss arm section; The nozzle is provided with a first rotating shaft, and the output shaft of the second driving motor is belt-driven with the first rotating shaft; The first rotating shaft is rotatably connected to the assembly frame, and the second driving motor is fixedly connected to the assembly frame.

5. The suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to claim 1, characterized in that: The sliding assembly includes a first pneumatic wheel and a second pneumatic wheel; The first swing arm and the second swing arm are rotatably connected to the first inflatable wheel and the second inflatable wheel respectively.

6. The suspended tendon-driven robot system for cleaning scars on the inner wall of a sedimentation tank according to claim 4, characterized in that: The nozzle is provided with a driven gear, the assembly frame is provided with a second rotating shaft, the second rotating shaft is provided with a driving gear, and the driving gear and the driven gear are meshed; The assembly frame is provided with a third drive motor, and the second rotating shaft is belt-driven to the third drive motor.

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