Pit sealing mud pit opening cleaning device capable of improving clamping reliability and operation method of pit sealing mud pit opening cleaning device

Abstract

The invention discloses a pit sealing mud pit opening and cleaning device capable of improving clamping reliability and an operation method of the pit sealing mud pit opening and cleaning device, and belongs to the technical field of pit sealing mud pit opening equipment.The pit sealing mud pit opening and cleaning device comprises a walking mechanism, a vertical linear module, a horizontal two-axis mechanical arm and a claw type pit mud grabbing mechanism; one end of the horizontal two-axis mechanical arm is installed on a vertical sliding plate of the vertical linear module, the other end of the horizontal two-axis mechanical arm is vertically and fixedly connected with the claw type pit mud grabbing mechanism, and the claw type pit mud grabbing mechanism can take out pit mud blocks which are divided into square blocks from a pit. Through the claw type pit mud grabbing mechanism, pit mud blocks can be reliably and stably grabbed, the grabbing reliability and stability are improved, the workload increase caused by the clearing step is also avoided, the horizontal double-shaft mechanical arm is adopted to be matched with the vertical linear coordinate and the walking linear coordinate, control is better facilitated, and the control difficulty is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of cellar sealing mud opening equipment, and relates to a cellar sealing mud opening and cleaning device for improving clamping reliability, and also relates to an operation method of a cellar sealing mud opening and cleaning device for improving clamping reliability. Background Art

[0002] Cellar opening means digging out the cellar sealing mud so as to extract the mother grains (grain fermented grains) subsequently. Currently, the conventional operation is that workers make slits in the cellar mud layer, and it is difficult to control the depth. After making the slits, workers take out the cellar mud blocks, which is time-consuming and laborious.

[0003] Chinese Patent Application (Application No. 2024106472372) discloses a cellar sealing mud opening, cleaning and collecting device and its operation method, which includes a traveling mechanism, an electric rotating table, a robotic arm and a cellar mud grabbing suction cup mechanism. The electric rotating table is installed on the traveling mechanism. One end of the robotic arm is installed on the vertical sliding plate of the electric rotating table, and the other end is detachably connected to the cellar mud grabbing suction cup mechanism or a cutting knife mechanism. The cellar mud grabbing suction cup mechanism is provided with a cutting knife mechanism, and the cutting knife mechanism is used to divide the cellar mud layer into square blocks of a set size for the cellar mud grabbing suction cup mechanism to adsorb and take away. The present invention forms crosswise and longitudinal slits in the cellar mud layer with the cutting knife mechanism to form cellar mud blocks, and then controls the cellar mud grabbing suction cup mechanism to adsorb and take them away and store them in a storage box for recycling. The device realizes rapid and stable cellar opening in terms of structure, can recycle the cellar mud, has high efficiency, saves time and effort, is controlled by an electric turntable and a robotic arm, occupies a small space, and is also convenient for cleaning cellar mud blocks in any dead corners, with more thorough cleaning and less slag dropping.

[0004] However, the above-mentioned device uses a suction cup for grabbing during the grabbing process, and reliable adsorption can only be achieved by relying on the stable support of vacuum suction and the smooth surface of the cellar mud block, which increases the workload of cellar mud block production in the early stage or surface cleaning of the cellar mud before adsorption. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a cellar sealing mud opening and cleaning device for improving clamping reliability and its operation method, which can ensure reliable grabbing and reduce the workload.

[0006] The technical solution adopted by the present invention is as follows: A cellar sealing mud opening and cleaning device for improving grabbing reliability, which includes a traveling mechanism, a vertical linear module, a horizontal two-axis robotic arm and a claw-type cellar mud grabbing mechanism. The vertical linear module is vertically installed on the traveling mechanism. One end of the horizontal two-axis robotic arm is installed on the vertical sliding plate of the vertical linear module, and the other end is vertically and fixedly connected to the claw-type cellar mud grabbing mechanism. The claw-type cellar mud grabbing mechanism can take out the cellar mud blocks cut into squares from the cellar pit.

[0007] Further, the above-mentioned claw-type cellar mud grabbing mechanism includes a connecting frame, a claw mounting plate, and multiple telescopic claws. The claw-type cellar mud grabbing mechanism is vertically and fixedly connected to a horizontal two-axis robotic arm. The claw mounting plate is fixedly connected to the lower end of the connecting frame. The multiple telescopic claws are respectively inclined and mounted on the claw mounting plate, and their lower ends converge towards a central point after extending out.

[0008] Further, at least 3 of the above-mentioned telescopic claws are adopted and are evenly arranged circumferentially.

[0009] Further, the above-mentioned telescopic claw includes a telescopic cylinder and a plug rod. The cylinder seat of the telescopic cylinder is fixedly connected to the claw mounting plate through a cylinder seat. The plug rod is a cylindrical rod, with a tapered tip at the lower end and is fixedly connected to the cylinder rod of the telescopic cylinder through a nut at the upper end. Anti-slip grooves are provided on the cylindrical surface of the plug rod.

[0010] Further, the above-mentioned connecting frame includes a connecting screw, double nuts, an intermediate plate, and a column. The intermediate plate is fixedly connected to the claw mounting plate through multiple columns. The lower end of the connecting screw is fixedly connected to the intermediate plate, and the upper end passes through the horizontal two-axis robotic arm and is locked with double nuts.

[0011] Further, an auxiliary suction cup is also installed in the middle of the above-mentioned claw mounting plate. The auxiliary suction cup is connected to the cylinder rod of a telescopic auxiliary cylinder, and the telescopic auxiliary cylinder is fixedly connected to the middle of the claw mounting plate.

[0012] Further, the above-mentioned traveling mechanism includes a sliding plate, a horizontal linear slider guide pair, and a synchronous belt drive mechanism. The bottom of the sliding plate is connected to a fixed mounting plate through two horizontal linear slider guide pairs. The fixed mounting plate is fixedly connected to the ground and is located on one side in the length direction of the cellar pit. The synchronous belt drive mechanism is installed on the fixed mounting plate, and the belt of the synchronous belt drive mechanism is fixedly connected to the bottom of the sliding plate. A column plate is fixedly connected to the middle of the top surface of the sliding plate, and the column plate is fixedly connected to the base of a vertical linear module. A grating ruler is provided on one side of the horizontal linear slider guide pair, and the reading head used in cooperation with the grating ruler is fixedly connected to the sliding plate.

[0013] Further, the above-mentioned horizontal two-axis robotic arm includes a first robotic arm, a first drive motor, a second robotic arm, and a second drive motor. One end of the first robotic arm is hinged to a hinge seat and is driven to rotate by the first drive motor. The hinge seat is fixedly connected to a vertical sliding plate. One end of the second robotic arm is hinged to the other end of the first robotic arm and is driven to rotate by the second drive motor.

[0014] Further, a traveling cart is connected to one side of the above-mentioned horizontal traveling mechanism, and a cellar mud block storage box is placed on the traveling cart.

[0015] An operation method of a cellar mud opening and cleaning device for improving clamping reliability includes the following steps: (1)Use a cutter to perform a grid-shaped slotting operation on the pit mud in the cellar to form uniformly sized square pit mud blocks; (2)Control the traveling mechanism to reach the set position on one side of the cellar for cleaning the pit mud blocks; (3)Control the vertical linear module to lower the horizontal two-axis robotic arm to the set position; (4)Control the horizontal two-axis robotic arm to be above the position of the first pit mud block to be taken out again, and control the vertical linear module to control the claw-type pit mud grabbing mechanism to the set position above the pit mud block. Control the telescopic claws of the claw-type pit mud grabbing mechanism to insert into the pit mud. After inserting to the set depth, control the vertical linear module to lift the claw-type pit mud grabbing mechanism to the set safe height, and control the horizontal two-axis robotic arm and the traveling mechanism to send the first pit mud block to the pit mud block storage box on the storage trolley connected to the traveling mechanism; (5)According to steps (1)-(4), grab and clean the remaining pit mud blocks in the cellar until all pit mud blocks are processed.

[0016] Advantages of the present invention: Compared with the prior art, the effects of the present invention are as follows: 1) Through the claw-type pit mud grabbing mechanism, the present invention can reliably and stably grab the pit mud blocks, improve the reliability and stability of grabbing, and also avoid the increase in workload caused by the cleaning step. Moreover, with the cooperation of the horizontal double-axis robotic arm and the two linear coordinates of vertical and traveling, it is more conducive to control and reduces the control difficulty; 2) Adopting the structure of the claw-type pit mud grabbing mechanism, through the extension of multiple inclined telescopic claws and insertion into the pit mud block to form a grab with a large upper part and a small lower part, the rapid grabbing of the pit mud block is realized, and the grabbing efficiency and reliability are improved; 3) Adopting at least three telescopic claws can ensure higher reliability of grabbing; 4) The telescopic claws are driven by cylinders, which can play a certain protective role for the inserting rods, and can also achieve rapid telescoping, improve the grabbing efficiency, and set anti-slip patterns to increase the friction between the inserting rods and the pit mud blocks and enhance the grabbing reliability; 5) The set connecting frame structure uses an intermediate plate for transition to evenly transfer the force to the screw rod, improving the overall rigidity and stability of the connecting frame, and is also convenient for arranging auxiliary suction cups between the columns. The double-nut connection is convenient for adjusting the height up and down and has stable locking; 6) Setting the auxiliary suction cup can further improve the grabbing reliability of the claw-type pit mud grabbing mechanism. In addition, it can also play a blocking role (releasing the negative pressure of the suction cup) or a pushing role during unloading, making the unloading more reliable; 7) The set traveling mechanism enables the sliding plate to linearly travel on the horizontal linear guide pair through the synchronous belt, ensuring accurate traveling position. With the cooperation of the grating ruler, the position positioning is more accurate, and the synchronous belt drive is adopted to avoid the influence of pit mud slag on the driving mechanism; 8) The two robotic arms of the horizontal two-axis robotic arm can ensure the grasping of the pit mud blocks covering the entire pit, and the driving is convenient and fast. After grasping, it can also be rotated and sent into the pit mud block storage box, improving the processing efficiency after the pit mud blocks are grasped; 9) A following mobile trolley is set to store the pit mud blocks, facilitating the collection of the pit mud blocks and improving the processing efficiency; 10) By adopting the method of controlling the path of the present invention, the control efficiency is improved and the control cost is reduced. Description of the Drawings

[0017] Figure 1 It is a front view structural schematic diagram of the pit mud opening and cellaring cleaning device; Figure 2 It is a structural schematic diagram of the claw-type pit mud grasping mechanism; Figure 3 It is a structural schematic diagram of the traveling mechanism. Detailed Embodiments

[0018] The present invention will be further introduced below in conjunction with the drawings and specific embodiments.

[0019] Embodiment 1: As Figures 1-3 shown, a pit mud opening and cellaring cleaning device for improving the grasping reliability includes a traveling mechanism 1, a vertical linear module 2, a horizontal two-axis robotic arm 3, and a claw-type pit mud grasping mechanism 4. The vertical linear module 2 is vertically installed on the traveling mechanism 1. One end of the horizontal two-axis robotic arm 3 is installed on the vertical sliding plate 201 of the vertical linear module 2, and the other end is vertically fixedly connected to the claw-type pit mud grasping mechanism 4. The claw-type pit mud grasping mechanism 4 can take out the pit mud blocks 6 divided into squares from the pit 5. Through the claw-type pit mud grasping mechanism, the pit mud blocks can be grasped reliably and stably, improving the grasping reliability and stability, and also avoiding the increase in workload caused by the cleaning step. Moreover, by adopting a horizontal double-axis robotic arm in cooperation with two linear coordinates of vertical and traveling, it is more conducive to control and reduces the control difficulty.

[0020] Among them, the claw-type pit mud grabbing mechanism 4 includes a connecting frame 401, a claw mounting plate 402 and multiple telescopic claws 403. The claw-type pit mud grabbing mechanism 4 is vertically and fixedly connected to the horizontal two-axis robotic arm 3. The claw mounting plate 402 is fixedly connected to the lower end of the claw mounting plate 402. Multiple telescopic claws 403 are respectively inclined and installed on the claw mounting plate 402, and their lower ends converge towards a central point after extending out. With the structure of the claw-type pit mud grabbing mechanism, through the insertion of multiple inclined telescopic claws into the pit mud block after extension to form a grabbing with a larger upper part and a smaller lower part, the rapid grabbing of the pit mud block is realized, improving the grabbing efficiency and reliability; at least 3 telescopic claws 403 are adopted and are evenly arranged circumferentially around the center of the claw mounting plate 402; adopting at least three telescopic claws can ensure higher grabbing reliability; the telescopic claw 403 includes a telescopic cylinder 404 and a plug rod 405. The cylinder block of the telescopic cylinder 404 is fixedly connected to the claw mounting plate 402 through a cylinder block 406. The plug rod 405 is a cylindrical rod, with a tapered tip 407 provided at the lower end and fixedly connected to the cylinder rod of the telescopic cylinder 404 through a nut 408 at the upper end. Anti-slip patterns are provided on the cylindrical surface of the plug rod 405; the telescopic claw is driven by a cylinder, which can play a certain protective role for the plug rod, and can also achieve rapid telescoping, improving the grabbing efficiency. Moreover, the anti-slip patterns are provided to increase the friction between the plug rod and the pit mud block and enhance the grabbing reliability; the connecting frame 401 includes a connecting screw 409, double nuts 410, an intermediate plate 411 and a column 412. The intermediate plate 411 is fixedly connected to the claw mounting plate 402 through multiple columns 412. The lower end of the connecting screw 409 is fixedly connected to the intermediate plate 411, and the upper end passes through the horizontal two-axis robotic arm 3 and is locked with double nuts 410; with the set connecting frame structure, the force is evenly transmitted to the screw through the transitional intermediate plate, improving the overall rigidity and stability of the connecting frame. Moreover, it is also convenient to arrange auxiliary suction cups between the columns. The double-nut connection is convenient for adjusting the upper and lower heights and has stable locking; an auxiliary suction cup 413 is also installed in the middle of the claw mounting plate 402. The auxiliary suction cup 413 is connected to the cylinder rod of the telescopic auxiliary cylinder 414, and the telescopic auxiliary cylinder 414 is fixedly connected to the middle of the claw mounting plate 402; the setting of the auxiliary suction cup can further improve the grabbing reliability of the claw-type pit mud grabbing mechanism. In addition, it can also play a blocking role (removing the negative pressure of the suction cup) or a pushing role during unloading, making the unloading more reliable.

[0021] Among them, the traveling mechanism 1 includes a sliding plate 101, a horizontal linear slider guide pair 102, and a synchronous belt drive mechanism 103. The bottom of the sliding plate 101 is connected to a fixed mounting plate 104 through two horizontal linear slider guide pairs 102. The fixed mounting plate 104 is fixedly connected to the ground and is located on one side of the length direction of the cellar pit 5. The synchronous belt drive mechanism 103 is installed on the fixed mounting plate 104, and the belt of the synchronous belt drive mechanism 103 is fixedly connected to the bottom of the sliding plate 101. A column plate 105 is fixedly connected to the middle of the top surface of the sliding plate 101. The column plate 105 is fixedly connected to the base 202 of the vertical linear module 2. A grating scale 106 is arranged on one side of the horizontal linear slider guide pair 102, and a reading head 107 used in cooperation with the grating scale 106 is fixedly connected to the sliding plate 101. The provided traveling mechanism enables the sliding plate to linearly travel on the horizontal linear guide pair through a synchronous belt, ensuring accurate traveling positions. With the cooperation of the grating scale, the position positioning is more accurate. Moreover, synchronous belt transmission is adopted to avoid the influence of cellar mud slag falling on the drive mechanism.

[0022] Among them, the horizontal two-axis robotic arm 3 includes a first robotic arm 301, a first drive motor 302, a second robotic arm 304, and a second drive motor 304. One end of the first robotic arm 301 is hinged to a hinge seat 305 and is driven to rotate by the first drive motor 302. The hinge seat 305 is fixedly connected to the vertical sliding plate 201. One end of the second robotic arm 304 is hinged to the other end of the first robotic arm 301 and is driven to rotate by the second drive motor 304. The two robotic arms of the horizontal two-axis robotic arm can ensure the grasping of cellar mud blocks covering the entire cellar pit, and the driving is convenient and fast. After grasping, it can also be rotated and sent into the cellar mud block storage box, improving the processing efficiency after the cellar mud blocks are grasped.

[0023] A traveling trolley 7 is connected to one side of the horizontal traveling mechanism 1. A cellar mud block storage box 8 is placed on the traveling trolley 7. The provided following traveling trolley is used for storing cellar mud blocks, facilitating the collection of cellar mud blocks and improving the processing efficiency.

[0024] Embodiment 2: An operation method of a cellar mud opening and cleaning device for improving clamping reliability includes the following steps: (1) Perform a grid-shaped slitting operation on the cellar mud in the cellar pit using a cutting knife to form square cellar mud blocks with uniform sizes; (2) Control the traveling mechanism to reach a set position on one side of the cellar pit for cleaning cellar mud blocks; (3) Control the vertical linear module to lower the horizontal two-axis robotic arm to a set position; (4)Control the horizontal two-axis robotic arm to be above the position of the first pit mud block to be taken out again, and control the vertical linear module to position the claw-type pit mud grabbing mechanism above the pit mud block at a set position. Control the telescopic claws of the claw-type pit mud grabbing mechanism to insert into the pit mud. After inserting to the set depth, control the vertical linear module to lift the claw-type pit mud grabbing mechanism to the set safe height, and control the horizontal two-axis robotic arm and the traveling mechanism to send the first pit mud block into the pit mud block storage box on the storage trolley connected to the traveling mechanism; (5)According to steps (1)-(4), grab and clean the remaining pit mud blocks in the cellar until all the pit mud blocks are processed.

[0025] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claimed rights.

Claims

1. A cellar sealing mud opening and cleaning device with improved gripping reliability, characterized in that: The invention comprises a walking mechanism (1), a vertical linear module (2), a horizontal two-axis mechanical arm (3) and a claw-type pit mud grabbing mechanism (4), wherein the vertical linear module (2) is vertically mounted on the walking mechanism (1), one end of the horizontal two-axis mechanical arm (3) is mounted on a vertical sliding plate (201) of the vertical linear module (2), and the other end is vertically fixedly connected to the claw-type pit mud grabbing mechanism (4), and the claw-type pit mud grabbing mechanism (4) can take out the pit mud blocks (6) cut into squares from the pit (5).

2. The cellar sealing mud opening and cleaning device with improved gripping reliability as claimed in claim 1 is characterized in that: The claw-type pit mud grabbing mechanism (4) comprises a connecting frame (401), a claw mounting plate (402) and a plurality of telescopic claws (403); the claw-type pit mud grabbing mechanism (4) is vertically fixedly connected to a horizontal two-axis mechanical arm (3); the claw mounting plate (402) is fixedly connected to the lower end of the claw mounting plate (402); the plurality of telescopic claws (403) are respectively obliquely mounted on the claw mounting plate (402) and their lower ends are extended and converge toward a central point.

3. The cellar sealing mud opening and cleaning device with improved gripping reliability as claimed in claim 2, characterized in that: At least three telescopic claws (403) are used.

4. The cellar sealing mud opening and cleaning device with improved gripping reliability as claimed in claim 2, characterized in that: The telescopic claw (403) comprises a telescopic cylinder (404) and an insertion rod (405); the cylinder seat of the telescopic cylinder (404) is fixedly connected to the claw mounting plate (402) via a cylinder seat (406); the insertion rod (405) is a cylindrical rod, a conical tip (407) is provided at the lower end, and the upper end is fixedly connected to the cylinder rod of the telescopic cylinder (404) via a nut (408); and the cylindrical surface of the insertion rod (405) is provided with anti-slip patterns.

5. The cellar sealing mud opening and cleaning device with improved gripping reliability as claimed in claim 2, characterized in that: The connecting frame (401) comprises a connecting screw (409), a double nut (410), an intermediate plate (411) and a column (412); the intermediate plate (411) is fixedly connected to the claw mounting plate (402) via a plurality of columns (412); the lower end of the connecting screw (409) is fixedly connected to the intermediate plate (411), and the upper end passes through the horizontal two-axis mechanical arm (3) and is locked by the double nut (410).

6. The cellar sealing mud opening and cleaning device with improved gripping reliability as claimed in claim 2, characterized in that: An auxiliary suction cup (413) is also installed in the middle of the claw mounting plate (402). The auxiliary suction cup (413) is connected to the cylinder rod of the telescopic auxiliary cylinder (414). The telescopic auxiliary cylinder (414) is fixedly connected to the middle of the claw mounting plate (402).

7. The device for cleaning the sealed cellar mud and opening the cellar with improved clamping reliability as claimed in claim 4, characterized in that: The walking mechanism (1) comprises a sliding plate (101), a horizontal linear slider guide pair (102) and a synchronous belt drive mechanism (103); the bottom of the sliding plate (101) is connected to a fixed mounting plate (104) through two horizontal linear slider guide pairs (102); the fixed mounting plate (104) is fixedly connected to the ground and is located on one side of the length direction of the pit (5); the synchronous belt drive mechanism (103) is installed on the fixed mounting plate (104) and the belt of the synchronous belt drive mechanism (103) is fixedly connected to the bottom of the sliding plate (101); a column plate (105) is fixedly connected to the middle of the top surface of the sliding plate (101); the column plate (105) is fixedly connected to a base (202) of a vertical linear module (2); a grating ruler (106) is arranged on one side of the horizontal linear slider guide pair (102); and a reading head (107) used in conjunction with the grating ruler (106) is fixedly connected to the sliding plate (101).

8. The cellar sealing mud opening and cleaning device with improved clamping reliability as claimed in claim 1 is characterized in that: The horizontal two-axis mechanical arm (3) comprises a first mechanical arm (301), a first drive motor (302), a second mechanical arm (304) and a second drive motor (304); one end of the first mechanical arm (301) is hinged on a hinge seat (305) and is driven to rotate by the first drive motor (302); the hinge seat (305) is fixedly connected to a vertical sliding plate (201); one end of the second mechanical arm (304) is hinged on the other end of the first mechanical arm (301) and is driven to rotate by the second drive motor (304).

9. The cellar sealing mud opening and cleaning device with improved clamping reliability as claimed in claim 1, characterized in that: A walking trolley (7) is connected to one side of the horizontal walking mechanism (1), and a cellar mud block storage box (8) is placed on the walking trolley (7).

10. The method for operating the cellar sealing mud opening and cleaning device with improved clamping reliability as claimed in claim 1, characterized in that: The following steps are involved: (1) Using a knife to make grid-like slits in the pit mud to form square pit mud blocks of uniform size; (2) Controlling the walking mechanism to the set position on one side of the cellar for cleaning the cellar mud; (3) Control the vertical linear module to lower the horizontal two-axis robotic arm to the set position; (4) Control the horizontal two-axis robot arm again to the position above the first cellar mud block to be taken out, and control the vertical linear module to control the claw-type cellar mud grabbing mechanism to the set position above the cellar mud block, control the telescopic claw of the claw-type cellar mud grabbing mechanism to insert the cellar mud, and after inserting to the set depth, control the vertical linear module to lift the claw-type cellar mud grabbing mechanism to the set safety height, and control the horizontal two-axis robot arm and the walking mechanism to send the first cellar mud block to the cellar mud block storage box on the storage trolley connected to the walking mechanism; (5) According to steps (1) to (4), the remaining mud blocks in the pit are picked up and cleaned until all the mud blocks are processed.

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