Intelligent silo cleaning robot

Abstract

The intelligent silo cleaning robot comprises a fixing frame plate and is characterized in that a rotating mechanism is arranged on the surface of the fixing frame plate and comprises a fluted disc and a driving motor, annular grooves are formed in the opposite sides of the fixing frame plate and the fluted disc, and a plurality of pressure-bearing balls are arranged between the two annular grooves; a vertical mounting plate is fixed to the top of the fluted disc, a height control mechanism is arranged above the vertical mounting plate and comprises a first cable winding roller, a first steel wire cable and a connecting block, the first steel wire cable is wound around the surface of the first cable winding roller, and the first cable winding roller is rotationally erected at the top of the vertical mounting plate; according to the silo top cleaning device, swinging type crushing and cleaning can be effectively carried out on the top of a silo, manual work or a traditional robot is effectively replaced for cleaning operation, the efficiency is high, and the silo top cleaning device is suitable for cleaning work of silos of different sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of silo cleaning, and in particular to an intelligent silo cleaning robot. Background Art

[0002] Silos are generally cylindrical and used as vertical chambers for storing materials. Coal silos are large storage devices, usually cylindrical or polygonal structures, used to temporarily store coal mined from coal mines. Coal is stored inside the silo for a long time. Affected by climatic conditions, it is very easy to agglomerate and attach to the wall. Therefore, before collecting materials from the coal silo, it is necessary to clean and break up the interior to prevent the agglomerated coal from affecting the subsequent material collection process.

[0003] At present, coal mine cleaning is mostly done by manually breaking up the coal and the carbon attached to the silo wall. The actual cleaning efficiency is extremely low, which affects the extraction effect. In addition, silos are generally vertical structures. Manual or robot cleaning work inside the silo is prone to the risk of falling into the material, resulting in the current silo cleaning is still a problem.

[0004] Therefore, how to provide a silo intelligent cleaning robot is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] One object of the present invention is to provide an intelligent silo cleaning robot, which can effectively realize swing-type crushing cleaning on the top of the silo, effectively replacing manual or traditional robot cleaning operations, and is highly efficient and suitable for cleaning silos of different sizes.

[0006] A silo intelligent cleaning robot according to an embodiment of the present invention includes a fixed frame plate, characterized in that a rotating mechanism is arranged on the surface of the fixed frame plate, the rotating mechanism includes a gear disk and an active motor, annular grooves are provided on opposite sides of the fixed frame plate and the gear disk, a plurality of groups of pressure-bearing balls are provided between the two groups of annular grooves, the gear disk rotates on the surface of the fixed frame plate through the pressure-bearing balls, a vertical mounting plate is fixed on the top of the gear disk, a height control mechanism is provided above the vertical mounting plate, the height control mechanism includes a first cable winding roller, a first steel cable and a connecting block, the first steel cable is wound on the surface of the first cable winding roller, the first cable winding roller is rotatably mounted on the top of the vertical mounting plate, the connecting block is fixedly hoisted at an end of the first steel cable away from the first cable winding roller, a radius control mechanism is provided below the first cable winding roller, the radius control mechanism includes a second cable winding roller, a second steel cable and a pressure wheel, the second steel cable is wound on the surface of the second cable winding roller, the second steel cable passes through the pressure wheel and is fixed to the bottom angle frame, the bottom angle frame is fixed to the bottom of the gear disk, and a movable opening is provided through the fixed frame plate near the bottom angle frame;

[0007] The bottom of the bottom angle frame is rotatably connected to the long cross bar through an axle pin, the pressure wheel limiter is set on the top of the long cross bar, and the end of the long cross bar away from the bottom angle frame guides the first steel cable through the guide wheel;

[0008] A safety mechanism is arranged at the bottom of the first cable winding roller, and the safety mechanism comprises a pushing rod and a swinging assembly. The pushing rod drives the damping block to swing at the bottom of the first cable winding roller through the control electric cylinder. The output end of the control electric cylinder is movably connected with one end of the pushing rod through the transmission pin seat. The control electric cylinder is fixed on the surface of the mounting seat, and the swinging assembly pulls the mounting seat to swing back and forth on the inner side of the vertical mounting plate.

[0009] Furthermore, the outer side of the gear disc is meshed with external teeth, the external teeth are fixed to the output shaft of the active motor, and the active motor is fixedly arranged on the top surface of the fixed frame plate.

[0010] Furthermore, the bottom of the connecting block is rotatably connected to two sets of hinges through a slip ring, one end of the hinge is fixedly connected to the breaker, the axis of the first cable winding roller is fixed to the output shaft of the torque motor, the axis of the second cable winding roller is fixed to the control motor, and the torque motor and the control motor are both fixed on the side of the vertical mounting plate.

[0011] Furthermore, a side pin seat is fixed below one side of the damping block, and a limiting component is respectively arranged at the bottom of the damping block and the mounting seat. The limiting component includes a sliding pin rod and a first arc groove. One side of the sliding pin rod slides in the first arc groove through a sliding pin, and the first arc groove is opened on the inner surface of the vertical mounting plate.

[0012] Furthermore, the arc center of the first arc groove corresponding to the sliding pin rod at the bottom of the damping block coincides with the axis center of the side pin seat, an extended arc groove is provided on the top of the first arc groove, and the arc center of the extended arc groove coincides with the axis center of the first cable winding roller.

[0013] Furthermore, the arc center of the second arc groove corresponding to the sliding pin rod at the bottom of the mounting seat coincides with the axis center of the first cable winding roller, the second arc groove is opened on the surface of the vertical mounting plate, and there are two groups of sliding pin rods at the bottom of the mounting seat, and the two groups of sliding pin rods are respectively arranged on the left and right sides of the bottom of the mounting seat.

[0014] Furthermore, a swing assembly is arranged on the axis of the side pin seat, and the swing assembly includes a connecting rod, two groups of force rods and a stabilizing rod. The two groups of force rods are movably arranged on the left and right sides of the connecting rod through bearings, and the side of the force rod away from the connecting rod is fixedly connected to the stabilizing rod.

[0015] Furthermore, one end of the stabilizing bar is movably connected to the reciprocating push rod through a bearing, and one end of the reciprocating push rod away from the stabilizing bar is fixedly connected to the output shaft of the driving motor, and the driving motor is fixedly connected to the side of the vertical mounting plate.

[0016] Furthermore, the surface of the bottom angle frame is provided with guide wheels for guiding the first steel cable and the second steel cable.

[0017] The beneficial effects of the present invention are:

[0018] The height control mechanism and radius control mechanism are provided in the present invention. After the torque motor is started, the first cable winding roller can realize the retraction and release of the first steel wire cable on its surface, so that the connection block can be dropped to different heights in the silo. At the same time, after the control motor is started, the second cable winding roller rotates to realize the retraction and release of the second steel wire cable. Under the guidance of the pressure wheel at the top of the long cross bar, the tightening effect can drive the long cross bar and the bottom angle frame to rotate, thereby lifting the other end of the long cross bar and controlling the connection block at different radius positions inside the silo, so that it is suitable for cleaning silos of different sizes and heights.

[0019] The present invention provides a rotating mechanism. After the active motor drives the external gear to rotate, the meshing effect of the external gear and the toothed disc causes the toothed disc to rotate on the top of the fixed frame plate, and the bottom angle frame is fixed below the toothed disc, and the vertical mounting plate is fixed above. In this way, the toothed disc in a rotating state can drive the connecting block to rotate centrifugally inside the silo. The connecting block is connected to the breaker hammer through a hinge. The breaker hammer swings and knocks the coal attached to the inner wall of the silo, thereby cleaning the inner wall of the silo. Under the action of centrifugal force, the connecting block can continuously be provided with a swinging effect. Compared with traditional manual and in-silo robots, this structure can effectively improve the efficiency of silo cleaning.

[0020] The present invention provides a safety mechanism, which can directly drive the transmission pin seat to move laterally after the control electric cylinder is started, and the transmission pin seat pulls the pushing rod to realize that the top of the pushing rod pushes the damping block, so that the damping block rotates with the side pin seat as the center of the circle, thereby realizing the top of the damping block and the surface of the first cable winding roller. Under the damping effect, the first cable winding roller can be in a more stable state, preventing the first cable winding roller from self-rotating due to the throwing force of the connecting block to damage the torque motor, thereby effectively improving the service life of the torque motor;

[0021] The present invention provides a swinging assembly, and when performing a cleaning operation on the inner wall of the silo, a driving motor can be started to drive the reciprocating push rod to rotate. During the rotation of the reciprocating push rod, one end of the reciprocating push rod is connected to the stabilizing rod, and the stabilizing rod is forced to pull the force-bearing rod and the connecting rod, so that the connecting rod provides a pushing effect for the mounting seat, and the mounting seat and the damping block are restricted by the activity of the extended arc groove, so that the mounting seat and the damping block reciprocate and swing around the first cable winding roller as the center. Under the swinging effect, the first cable winding roller is subjected to the swinging pushing force and rotates at the same time, thereby realizing the control of the retraction and release of the first steel wire cable, and then realizing the position change of the connecting block during the rotation process. This effect can make the connecting block be subjected to the centrifugal force during the winding process, so that the connecting block can realize normal swing faster, and vice versa, the breaker hammer can better contact with the coal attached to the inner wall of the silo, thereby improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of an intelligent silo cleaning robot proposed by the present invention;

[0024] Figure 2 This is a schematic plan view of the overall structure of an intelligent silo cleaning robot proposed in the present invention.

[0025] Figure 3 This is a schematic diagram of the fixed frame plate connection structure of a silo intelligent cleaning robot proposed in the present invention.

[0026] Figure 4 This is a schematic diagram of the vertical mounting plate connection structure of a silo intelligent cleaning robot proposed in the present invention.

[0027] Figure 5 This is a schematic diagram of the disassembly of the fixed frame position structure of the silo intelligent cleaning robot proposed in the present invention.

[0028] Figure 6 This is a schematic diagram of the disassembly of the safety mechanism of the silo intelligent cleaning robot proposed in the present invention.

[0029] Figure 7 A silo intelligent cleaning robot proposed by the present invention Figure 4 Enlarged schematic diagram of the structure at point A.

[0030] Figure 8 A silo intelligent cleaning robot proposed by the present invention Figure 5 Enlarged schematic diagram of the structure at point B.

[0031] Fig. 9 This is a schematic diagram of the connection structure of the connection blocks of the silo intelligent cleaning robot proposed by the present invention.

[0032] In the figure: 1. fixed frame plate; 2. rotating mechanism; 3. vertical mounting plate; 4. height control mechanism; 5. radius control mechanism; 6. safety mechanism; 7. long cross bar; 8. bottom angle frame; 9. damping block;

[0033] 21. Toothed disc; 22. Ring groove; 23. Pressure bearing ball; 24. External gear; 25. Active motor; 41. Torque motor; 42. First cable winding roller; 43. First steel wire cable; 44. Connecting block; 45. Hinge; 46. Breaking hammer; 51. Control motor; 52. Second cable winding roller; 53. Second steel wire cable; 54. Pressure wheel; 61. Control electric cylinder; 62. Transmission pin seat; 63. Push rod; 64. Side pin seat; 65. Limiting assembly; 66. Placement seat; 67. Swing assembly;

[0034] 651, sliding pin rod; 652, first arc groove; 653, extended arc groove; 654, second arc groove; 671, connecting rod; 672, force rod; 673, stabilizing rod; 674, reciprocating push rod; 675, driving motor. DETAILED DESCRIPTION

[0035] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0036] refer to Figure 1-Figure 9 , including a fixed frame plate 1, characterized in that a rotating mechanism 2 is arranged on the surface of the fixed frame plate 1, the rotating mechanism 2 includes a toothed disc 21 and an active motor 25, an annular groove 22 is provided on the opposite sides of the fixed frame plate 1 and the toothed disc 21, a plurality of groups of pressure-bearing balls 23 are arranged between the two groups of annular grooves 22, the toothed disc 21 rotates on the surface of the fixed frame plate 1 through the pressure-bearing balls 23, a vertical mounting plate 3 is fixed on the top of the toothed disc 21, a height control mechanism 4 is arranged above the vertical mounting plate 3, the height control mechanism 4 includes a first cable winding roller 42, a first steel wire cable 43 and a connecting block 44, the first steel wire cable 43 is wound around the first The surface of the cable winding roller 42, the first cable winding roller 42 is rotatably mounted on the top of the vertical mounting plate 3, the connecting block 44 is fixedly hoisted on the end of the first steel cable 43 away from the first cable winding roller 42, and a radius control mechanism 5 is arranged below the first cable winding roller 42, the radius control mechanism 5 includes a second cable winding roller 52, a second steel cable 53 and a pressure wheel 54, the second steel cable 53 is wound on the surface of the second cable winding roller 52, the second steel cable 53 passes through the pressure wheel 54 and is fixed to the bottom angle frame 8, the bottom angle frame 8 is fixed to the bottom of the toothed disc 21, and the fixed frame plate 1 is penetrated to open a movable opening near the bottom angle frame 8;

[0037] The bottom of the bottom angle frame 8 is rotatably connected to the long cross bar 7 through an axle pin, and the pressure wheel 54 is limitedly set on the top of the long cross bar 7. The end of the long cross bar 7 away from the bottom angle frame 8 guides the first steel cable 43 through the guide wheel;

[0038] A safety mechanism 6 is provided at the bottom of the first cable winding roller 42, and the safety mechanism 6 includes a pushing rod 63 and a swinging assembly 67. The pushing rod 63 drives the damping block 9 to swing at the bottom of the first cable winding roller 42 through the control electric cylinder 61. The output end of the control electric cylinder 61 is movably connected to one end of the pushing rod 63 through the transmission pin seat 62. The control electric cylinder 61 is fixed on the surface of the placement seat 66, and the swinging assembly 67 pulls the placement seat 66 to swing back and forth on the inner side of the vertical mounting plate 3.

[0039] In this embodiment, the toothed disc 21 rotates on the surface of the fixed frame plate 1 through the pressure-bearing ball 23, and the bottom angle frame 8 and the vertical mounting plate 3 are fixed on the upper and lower sides thereof respectively. The bottom angle frame 8 and the vertical mounting plate 3 are used to connect other components. In this way, only by fixing the fixed frame plate 1 at the center position of the top of the silo, the rotation effect of the toothed disc 21 can drive the connecting block 44 to rotate at high speed inside the silo, and the impact cleaning operation of the connecting block 44 on the inner wall of the silo is realized by utilizing the rotation effect, thereby replacing the traditional manual cleaning or robot cleaning operation, and can effectively prevent the dangerous situation of personnel or robots falling into the material pile;

[0040] The height control mechanism 4 arranged above the vertical mounting plate 3 can directly drive the first cable winding roller 42 to rotate after the torque motor 41 works. The rotation of the first cable winding roller 42 can realize the retracting and releasing operation of the first steel wire cable 43 on the surface of the first cable winding roller 42, and the first steel wire cable 43 passes through the movable opening of the fixed frame plate 1 and the guide wheel on the surface of the long cross bar 7 and the bottom angle frame 8 below and is directly connected to the connecting block 44. The connecting block 44 is connected to the breaker 46 through the hinge 45, so that under the rotation effect of the rotating mechanism 2, the connecting block 44 drives the breaker 46 to rotate and clean the inner wall of the silo at a high speed, thereby cleaning the coal attached to the inner wall of the silo. In terms of operation, compared with the traditional manual or robot-entering silo cleaning operation, it can improve safety and prevent personnel or robots from falling into the coal pile. After working, the control motor 51 drives the second cable winding roller 52 to rotate, and the second steel cable 53 is similarly retracted. At this time, one end of the second steel cable 53 passes through the pressure wheel 54 on the surface of the long cross bar 7 to connect the bottom angle frame 8. Under the tension, the long cross bar 7 and the bottom angle frame 8 rotate at an angle, thereby controlling the radius position of one end of the long cross bar 7, and then controlling the position of the connecting block 44 inside the silo. In this way, the device can be applied to the cleaning of silos of different sizes.

[0041] The first cable winding roller 42 is provided with a safety mechanism 6 below. After the control electric cylinder 61 is started, the damping block 9 can be pushed to swing below the first cable winding roller 42 through the pushing rod 63 until the top of the damping block 9 contacts and presses the bottom of the first cable winding roller 42. In this way, the centrifugal force of the high-speed rotation will not drive the first cable winding roller 42 to rotate through the first steel wire cable 43, thereby protecting the torque motor 41 and effectively improving the service life of the torque motor 41. The swing assembly 67 can pull the mounting seat 66 to rotate within a small angle, so that the damping block 9 provides a rotational force for the first cable winding roller 42. This effect can cooperate with the torque motor 41 to realize the reciprocating retracting and releasing operation while swinging the connecting block 44. At this time, during the line-releasing process, the connecting block 44 can better contact with the coal on the inner wall of the silo, thereby improving the cleaning effect. The winding can effectively cooperate with the swinging effect of the rotating mechanism 2 on the connecting block 44 to quickly realize the resetting of the swinging effect of the connecting block 44, thereby improving the cleaning efficiency.

[0042] refer to Figure 3 and Figure 5 The outer side of the gear disc 21 is meshed with external teeth 24 , and the external teeth 24 are fixed to the output shaft of the active motor 25 , and the active motor 25 is fixedly arranged on the top surface of the fixed frame plate 1 .

[0043] In this embodiment, the active motor 25 directly drives the outer gear 24 to rotate when working, and the outer gear 24 engages with the outer side of the toothed disc 21, so that the toothed disc 21 rotates on the top of the fixed frame plate 1, thereby driving the connecting block 44 to swing inside the silo.

[0044] refer to Figure 3 and Fig. 9 The bottom of the connecting block 44 is rotatably connected to two sets of hinges 45 through a slip ring, one end of the hinge 45 is fixedly connected to a breaker 46, the axis of the first cable winding roller 42 is fixed to the output shaft of the torque motor 41, the axis of the second cable winding roller 52 is fixed to the control motor 51, and the torque motor 41 and the control motor 51 are both fixed to the side of the vertical mounting plate 3.

[0045] In this embodiment, the connecting block 44 is connected to the breaker 46 through the hinge 45 at the bottom. The breaker 46 directly impacts and cleans the coal on the inner wall of the silo under the swinging effect, and the first cable winding roller 42 and the second cable winding roller 52 are driven to rotate by the torque motor 41 and the control motor 51 respectively, so as to achieve the length and radius control effect and meet the use of silos of different sizes and areas.

[0046] refer to Figure 5-Figure 8 , a side pin seat 64 is fixed below one side of the damping block 9, and a limit assembly 65 is respectively arranged at the bottom of the damping block 9 and the placement seat 66. The limit assembly 65 includes a sliding pin rod 651 and a first arc groove 652. One side of the sliding pin rod 651 slides in the first arc groove 652 through a sliding pin, and the first arc groove 652 is provided on the inner surface of the vertical installation plate 3. The arc center of the first arc groove 652 corresponding to the sliding pin rod 651 at the bottom of the damping block 9 coincides with the axis of the side pin seat 64, and an extended arc groove 653 is provided at the top of the first arc groove 652, and the arc center of the extended arc groove 653 coincides with the axis of the first cable winding roller 42. The arc center of the second arc groove 654 corresponding to the sliding pin rod 651 at the bottom of the placement seat 66 coincides with the axis of the first cable winding roller 42, and the second arc groove 654 is provided on the surface of the vertical installation plate 3. There are two groups of sliding pin rods 651 at the bottom of the placement seat 66, and the two groups of sliding pin rods 651 are respectively arranged on the left and right sides of the bottom of the placement seat 66.

[0047] In this embodiment, the sliding pin rod 651 arranged below the damping block 9 slides in the first arc groove 652, and the arc center of the first arc groove 652 coincides with the axial center of the side pin seat 64, so that the rotation center of the damping block 9 is also the center of the side pin seat 64. Under this effect, the effect of the pushing rod 63 pushing the damping block 9 will make the damping block 9 gradually contact and press the bottom of the first cable winding roller 42 completely, thereby providing a stabilizing effect for the first cable winding roller 42, preventing the first cable winding roller 42 from rotating by the tension of the first steel wire cable 43 in the high-speed rotating state, thereby damaging the torque motor 41;

[0048] The sliding pin rod 651 at the bottom of the accommodating seat 66 slides in the second arc groove 654 accordingly, and the arc center of the second arc groove 654 coincides with the axis center of the first cable winding roller 42, which provides the accommodating seat 66 with the axis center of the first cable winding roller 42 as the center, meeting the subsequent secondary retraction and release work.

[0049] refer to Figure 5-Figure 8 The side pin seat 64 is provided with a swing assembly 67 at its axis. The swing assembly 67 includes a connecting rod 671, two groups of force rods 672 and a stabilizing rod 673. The two groups of force rods 672 are movably arranged on the left and right sides of the connecting rod 671 through bearings, and the side of the force rod 672 away from the connecting rod 671 is fixedly connected to the stabilizing rod 673. One end of the stabilizing rod 673 is movably connected to a reciprocating push rod 674 through a bearing, and the end of the reciprocating push rod 674 away from the stabilizing rod 673 is fixedly connected to the output shaft of a driving motor 675, and the driving motor 675 is fixedly connected to the side of the vertical mounting plate 3.

[0050] In this embodiment, after the driving motor 675 works, its output shaft can directly drive the reciprocating push rod 674 to rotate. One end of the reciprocating push rod 674 is connected to the stabilizing rod 673, and the stabilizing rod 673 is movably connected to the connecting rod 671 through the force-bearing rod 672. In this way, during the reciprocating rotation of the reciprocating push rod 674, the force-bearing rod 672 can continuously pull the connecting rod 671 back and forth to move. The two ends of the connecting rod 671 are respectively connected to the mounting seat 66. As mentioned earlier, the mounting seat 66 is restricted by the second arc groove 654 and can only rotate with the first cable winding roller 42 as the center of the circle. In this way, the damping block 9 can drive the first cable winding roller 42 to reciprocate a small angle under the action of the assembly force, so that the first cable winding roller 42 can drive the connecting block 44 to retract and extend a short distance during the rotation process. The retraction and extension effect can effectively improve the cleaning effect of the breaker 46 at the bottom of the connecting block 44 on the inner wall of the silo and use centrifugal force to realize the swinging and resetting of the connecting block 44.

[0051] refer to Figure 5 The surface of the bottom angle frame 8 is provided with a guide wheel for guiding the first steel cable 43 and the second steel cable 53.

[0052] In this embodiment, the guide wheel on the surface of the bottom angle frame 8 can directly guide the first steel cable 43 and the second steel cable 53, so as to meet the control of the first steel cable 43 and the second steel cable 53 on the long cross bar 7 and the connecting block 44, and meet the use of silos of different area sizes.

[0053] Working principle: First, the fixing frame plate 1 is fixedly installed at the center of the top of the silo, and then the torque motor 41 is started to drive the first cable winding roller 42 to rotate above the vertical mounting plate 3. The first cable winding roller 42 rotates to realize the release operation of the first steel wire cable 43. Under the guidance of the bottom angle frame 8 and the long cross bar 7, the connecting block 44 connected to one end of the first steel wire cable 43 continues to descend inside the silo until it descends to a specified height. Then the control electric cylinder 61 is started to drive the transmission pin seat 62 to pull back, and the pushing rod 63 is forced to drive the damping block 9 with the side pin seat 64 as The center of the circle rotates, and the sliding pin rod 651 under the damping block 9 also slides in the first arc groove 652 until the damping block 9 is completely close to the bottom of the first cable winding roller 42, and then the control motor 51 is started to drive the second cable winding roller 52 to rotate, and the second cable winding roller 52 retracts and releases the second steel wire cable 53, and the second steel wire cable 53 passes through the pressure wheel 54 at the top of the long cross bar 7 and is directly fixed to the bottom angle frame 8. In this way, during the winding process, the long cross bar 7 is subjected to force to rotate with the bottom angle frame 8, and the position of one end of the long cross bar 7 changes, which can control the connection block 44 in the drum. The actual radius position inside the silo is then determined, and the active motor 25 on the top of the fixed frame plate 1 is started. The active motor 25 directly drives the outer gear 24 to rotate, and the outer gear 24 meshes with the outer side of the toothed disc 21. Under the support and stability of several groups of pressure-bearing balls 23 in the annular groove 22, the toothed disc 21 rotates on the top of the fixed frame plate 1, and synchronously drives the vertical mounting plate 3 and the bottom angle frame 8 to rotate. At this time, the connecting block 44 rotates at a high speed inside the silo, and the breaker 46 connected to the hinge 45 at the bottom of the connecting block 44 cleans the inner wall of the silo. During the cleaning process, the drive The motor 675 is started to drive the reciprocating push rod 674 to rotate, and the stabilizing rod 673 connected to the reciprocating push rod 674 drives the force-bearing rod 672 and the connecting rod 671 to reciprocate, and the connecting rod 671 pushes the placement seat 66 to rotate with the second arc groove 654 as the activity trajectory, and the center of rotation is the axis of the first cable winding roller 42. In this way, under the resistance of the damping block 9, the first cable winding roller 42 reciprocates in a small range to achieve the retraction and release of the first steel cable 43. At this time, the connecting block 44 will provide a better impact effect on the inner wall of the silo, thereby improving the cleaning effect.

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A silo intelligent cleaning robot, comprising a fixed frame plate (1), characterized in that: A rotating mechanism (2) is arranged on the surface of the fixed frame plate (1), the rotating mechanism (2) comprising a toothed disc (21) and an active motor (25), an annular groove (22) is provided on opposite sides of the fixed frame plate (1) and the toothed disc (21), a plurality of groups of pressure-bearing balls (23) are arranged between the two groups of annular grooves (22), the toothed disc (21) rotates on the surface of the fixed frame plate (1) through the pressure-bearing balls (23), a vertical mounting plate (3) is fixed on the top of the toothed disc (21), a height control mechanism (4) is arranged above the vertical mounting plate (3), the height control mechanism (4) comprises a first cable winding roller (42), a first steel wire cable (43) and a connecting block (44), the first steel wire cable (43) is wound around the first cable winding roller (42) The first cable winding roller (42) is rotatably mounted on the top of the vertical mounting plate (3), the connecting block (44) is fixedly hoisted on the end of the first steel cable (43) away from the first cable winding roller (42), and a radius control mechanism (5) is arranged below the first cable winding roller (42), the radius control mechanism (5) comprises a second cable winding roller (52), a second steel cable (53) and a pressure wheel (54), the second steel cable (53) is wound around the surface of the second cable winding roller (52), the second steel cable (53) passes through the pressure wheel (54) and is fixed to the bottom angle frame (8), the bottom angle frame (8) is fixed to the bottom of the toothed disc (21), and a movable opening is opened through the fixed frame plate (1) near the bottom angle frame (8); The bottom of the bottom angle frame (8) is rotatably connected to the long cross bar (7) via an axle pin, the pressure wheel (54) is limitedly arranged at the top of the long cross bar (7), and the end of the long cross bar (7) away from the bottom angle frame (8) guides the first steel cable (43) via a guide wheel; A safety mechanism (6) is provided at the bottom of the first cable winding roller (42). The safety mechanism (6) comprises a pushing rod (63) and a swinging assembly (67). The pushing rod (63) drives the damping block (9) to swing at the bottom of the first cable winding roller (42) through a control electric cylinder (61). The output end of the control electric cylinder (61) is movably connected to one end of the pushing rod (63) through a transmission pin seat (62). The control electric cylinder (61) is fixed on the surface of a placement seat (66). The swinging assembly (67) pulls the placement seat (66) to swing back and forth on the inner side of the vertical mounting plate (3).

2. The silo intelligent cleaning robot according to claim 1, characterized in that: The outer side of the toothed disc (21) is meshed with external teeth (24), and the external teeth (24) are fixed to the output shaft of the active motor (25), and the active motor (25) is fixedly arranged on the top surface of the fixed frame plate (1).

3. The silo intelligent cleaning robot according to claim 1, characterized in that: The bottom of the connecting block (44) is rotatably connected to two sets of hinges (45) via a slip ring, one end of the hinge (45) is fixedly connected to a breaker (46), the axis of the first cable winding roller (42) is fixed to the output shaft of the torque motor (41), the axis of the second cable winding roller (52) is fixed to the control motor (51), and the torque motor (41) and the control motor (51) are both fixed to the side of the vertical mounting plate (3).

4. The silo intelligent cleaning robot according to claim 1, characterized in that: A side pin seat (64) is fixed below one side of the damping block (9), and a limit assembly (65) is respectively arranged at the bottom of the damping block (9) and the placement seat (66), and the limit assembly (65) comprises a sliding pin rod (651) and a first arc groove (652), and one side of the sliding pin rod (651) slides in the first arc groove (652) through a sliding pin, and the first arc groove (652) is arranged on the inner surface of the vertical mounting plate (3).

5. The silo intelligent cleaning robot according to claim 4, characterized in that: The arc center of the first arc groove (652) corresponding to the sliding pin rod (651) at the bottom of the damping block (9) coincides with the axis center of the side pin seat (64); an extended arc groove (653) is provided at the top of the first arc groove (652); and the arc center of the extended arc groove (653) coincides with the axis center of the first cable winding roller (42).

6. The silo intelligent cleaning robot according to claim 4, characterized in that: The arc center of the second arc groove (654) corresponding to the sliding pin rod (651) at the bottom of the placement seat (66) coincides with the axis center of the first cable winding roller (42), and the second arc groove (654) is opened on the surface of the vertical mounting plate (3). The number of the sliding pin rods (651) at the bottom of the placement seat (66) is two groups, and the two groups of sliding pin rods (651) are respectively arranged on the left and right sides of the bottom of the placement seat (66).

7. The silo intelligent cleaning robot according to claim 4, characterized in that: A swing assembly (67) is arranged at the axis of the side pin seat (64), and the swing assembly (67) comprises a connecting rod (671), two groups of force-bearing rods (672) and a stabilizing rod (673). The two groups of force-bearing rods (672) are movably arranged on the left and right sides of the connecting rod (671) through bearings, and the side of the force-bearing rod (672) away from the connecting rod (671) is fixedly connected to the stabilizing rod (673).

8. The silo intelligent cleaning robot according to claim 7, characterized in that: One end of the stabilizing rod (673) is movably connected to the reciprocating push rod (674) through a bearing, and one end of the reciprocating push rod (674) away from the stabilizing rod (673) is fixedly connected to the output shaft of the driving motor (675), and the driving motor (675) is fixedly connected to the side of the vertical mounting plate (3).

9. The silo intelligent cleaning robot according to claim 1, characterized in that: The surface of the bottom angle frame (8) is provided with guide wheels for guiding the first steel cable (43) and the second steel cable (53).

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