Residual coal sweeping cleaning head and manipulator for cabin

Abstract

The invention discloses a residual coal sweeping cleaning head for a cabin and a manipulator. The residual coal sweeping cleaning head comprises a switching mechanism and a sweeping mechanism, the switching mechanism comprises a first driving part and a rack, and the rack is arranged on the movable base; the sweeping mechanism comprises a second driving part, a rotary brush, a shovel and at least two cleaning rollers, the second driving part drives the rotary brush and the at least two cleaning rollers to move synchronously, the two cleaning rollers are symmetrically arranged on the two sides of the rotary brush, and the shovel is movably arranged on the rack. The second driving component drives the rotary brush and the cleaning roller to rotate, scattered coal adhering to the cabin wall on the inner wall of the cabin is cleaned, the cleaning efficiency is improved, the safety risk is reduced, meanwhile, the first driving component drives the machine frame to rotate, the spades are switched, the spades are used for cleaning dead corners in the cabin, the cleaning efficiency is improved, and the coal adhering to the cabin wall is swept down. And the cabin cleaning machine can conveniently push the residual coal to the middle of the cabin, so that secondary grabbing is facilitated, and thorough cleaning of the residual coal is ensured.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a cleaning head and robotic arm for cleaning residual coal in ship cabins. Background Technology

[0002] Thermal power plants typically use coal as their power generation fuel, and coal is usually transported from ports. Ship unloaders use grab buckets to unload coal from cargo ships onto conveyor belts on shore, from where it is transported to warehouses for power generation. However, due to the mechanical limitations of ship unloaders, their grabbing range is limited; they can usually only handle coal in the central area of ​​the ship's hold and cannot reach coal adhering to the bulkheads. Therefore, a cleaning machine is usually hoisted into the hold and used to push coal adhering to the bulkheads and nearby areas to the center of the hold, allowing the ship unloader to grab it again and ensure thorough cleaning of the hold.

[0003] During the cleaning process, due to factors such as humidity, loose coal often sticks to the cargo hold walls, stairs, and gaps in the compartments. At this time, due to collision issues and the height, the cleaning machine's bucket is difficult to clean, and there is a lack of cleaning tools. In the past, this kind of work was done manually by going down into the hold. However, since the cleaning operation requires working with the cleaning machine and coal unloading machine, the risk factor is extremely high, and the dust in the hold also poses safety and health risks. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a cleaning head and robotic arm for cleaning residual coal in ship cabins, which facilitates mechanized cleaning, eliminates the need for manual cleaning, reduces safety risks, and improves cleaning efficiency.

[0005] According to a first aspect of the present invention, a coal cleaning head for a ship's hold includes: a switching mechanism and a cleaning mechanism; the switching mechanism includes a first driving component and a frame, the frame being mounted on the movable base; the cleaning mechanism includes a second driving component, a rotary brush, a shovel, and cleaning rollers, the second driving component, the rotary brush, the shovel, and the cleaning rollers being mounted on the frame, the second driving component driving the rotary brush and at least two cleaning rollers to move synchronously, the two cleaning rollers being symmetrically arranged on both sides of the rotary brush, and the shovel being movably mounted on the frame.

[0006] In some embodiments of the present invention, the rotary brush includes a transmission assembly and a plurality of brush members, the plurality of brush members being arranged circumferentially along the outer edge of the transmission assembly, and the second driving component driving the plurality of brush members to move circumferentially through the transmission assembly.

[0007] In some embodiments of the present invention, the transmission assembly includes two sets of transmission units, which are symmetrically arranged and connected by a chain. The second driving component drives the two sets of transmission units to move synchronously via the chain, and the brush is disposed on the chain.

[0008] In some embodiments of the present invention, the transmission unit includes a transmission shaft and two sprockets. The transmission shaft is rotatably mounted on the frame, and the two sprockets are symmetrically mounted at both ends of the transmission shaft. The second drive component drives one of the transmission shafts to rotate, and the two ends of the other transmission shaft are respectively connected to the cleaning roller. Two chains are provided, and the chains mesh with the sprockets.

[0009] In some embodiments of the present invention, a thrust bearing is provided between the drive shaft and the frame, and the frame is provided with a dust cover plate, which covers one end of the thrust bearing.

[0010] In some embodiments of the present invention, the cleaning roller includes a roller and a plurality of cleaning brushes, the diameter of the roller gradually decreases in the direction away from the drive shaft, the plurality of cleaning brushes are arranged circumferentially on the outer side of the roller, and the plurality of cleaning brushes are detachably disposed on the roller.

[0011] In some embodiments of the present invention, a positioning plate and a clamping plate are provided on the outer side of the roller, and a locking screw is provided on the clamping plate. The locking screw passes through the clamping plate and is threadedly connected to the positioning plate. The locking screw drives the clamping plate to cooperate with the positioning plate to clamp the cleaning brush.

[0012] In some embodiments of the present invention, the frame is provided with a third driving component, the shovel is hinged to the frame, the fixed end of the third driving component is hinged to the robotic arm, and the movable end of the third driving component is hinged to the shovel.

[0013] In some embodiments of the present invention, the end of the shovel is generally flat, and the width of the shovel gradually decreases from the inside to the outside along the length direction of the shovel.

[0014] According to a second aspect of the present invention, a robotic arm includes a robotic arm and a coal cleaning head for cleaning a ship's hold as described in a first aspect of the present invention, wherein the coal cleaning head for cleaning a ship's hold is disposed at the movable end of the robotic arm.

[0015] Compared with the prior art, the coal cleaning head and robotic arm for cleaning ship holds according to the present invention have the following advantages: By installing the fixed end of the first driving component onto the robotic arm, the cleaning head is installed on the robotic arm. The robotic arm drives the cleaning head to clean the inside of the ship hold. The second driving component drives the rotary brush and cleaning roller to rotate, cleaning the loose coal adhering to the ship hold walls, improving cleaning efficiency and reducing safety risks. At the same time, the first driving component drives the frame to rotate, switching to a shovel to clean the dead corners inside the ship hold, improving cleaning efficiency. Meanwhile, the rotary brush and cleaning roller work together to sweep the coal adhering to the ship hold walls, making it convenient for the cleaning machine to push the remaining coal to the middle of the ship hold for secondary grabbing, ensuring that the coal inside the ship hold is thoroughly cleaned. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a cleaning head according to a first aspect embodiment of the present invention;

[0017] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle;

[0018] Figure 3 This is a cross-sectional view of the cleaning head according to a first aspect embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of a robotic arm according to a second aspect embodiment of the present invention.

[0020] Explanation of reference numerals in the attached figures:

[0021] Base 110, first drive component 120, frame 210, second drive component 220, shovel 231, third drive component 232, cleaning roller 240, cleaning brush 241, roller 242, positioning plate 243, locking screw 244, clamping plate 245, rotary brush 250, brush piece 251, chain 261, sprocket 262, drive shaft 263, robotic arm 300. Detailed Implementation

[0022] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0023] In the description of this invention, it should be understood that the "tank cleaning machine" mentioned in this invention is a special machine used in dry bulk cargo unloading operations to concentrate residual cargo in the bilge and dead corners, and belongs to the prior art.

[0024] Reference Figure 1According to a first aspect of the present invention, a coal cleaning head for a ship's hold includes a switching mechanism and a cleaning mechanism. The switching mechanism includes a first driving component 120 and a frame 210, with the frame 210 mounted on a movable base 110. The cleaning mechanism includes a second driving component 220, a rotating brush 250, a shovel 231, and a cleaning roller 240. The second driving component 220, the rotating brush 250, the shovel 231, and the cleaning roller 240 are all mounted on the frame 210. The second driving component 220 drives the rotating brush 250 and at least two cleaning rollers 240 to move synchronously. The two cleaning rollers 240 are symmetrically arranged on both sides of the rotating brush 250. The shovel 231 is movably mounted on the frame 210.

[0025] The second drive unit 220 drives the rotary brush 250 and cleaning roller 240 to rotate, cleaning the loose coal adhering to the inner wall of the hold, improving cleaning efficiency and reducing safety risks. Simultaneously, the first drive unit 120 drives the frame 210 to rotate, switching to the use of a shovel 231 to clean coal adhering to corners within the hold, further improving cleaning efficiency and reducing safety risks. The rotary brush 250 and cleaning roller 240 work together to sweep away coal adhering to the hold walls, facilitating the push of remaining coal to the middle of the hold for secondary handling, ensuring thorough cleaning and improving efficiency. It should be noted that the first drive unit 120 can be a hydraulic rotary drive or an electric motor.

[0026] Reference Figure 1 and Figure 3 It is understood that the rotary brush 250 includes a transmission assembly and multiple brush pieces 251. The multiple brush pieces 251 are arranged circumferentially along the outer edge of the transmission assembly. The second drive component 220 drives the multiple brush pieces 251 to move circumferentially through the transmission assembly. The second drive component 220 drives the multiple brush pieces 251 to move sequentially circumferentially through the transmission assembly. Through the continuous movement of the brush pieces 251, the bulkhead is swept, and the coal adhering to the bulkhead is swept off. Furthermore, the continuous sweeping of the multiple brush pieces 251 prevents coal from accumulating on a single brush piece 251, thereby reducing the cleaning effect, ensuring effective cleaning by the cleaning head, and improving operational stability.

[0027] Understandably, the transmission assembly includes two sets of transmission units, symmetrically arranged, with a chain 261 connecting them. The second drive component 220 drives the two sets of transmission units to move synchronously via the chain 261. The brush component 251 is mounted on the chain 261. Through synchronous movement, the second drive component 220 drives one set of transmission units, which in turn drives the other set via the chain 261. Simultaneously, the chain 261 also drives the brush component 251 to move circumferentially. Furthermore, when the chain 261 drives the other set of transmission units, the other set drives the cleaning roller 240, achieving synchronous movement of the rotating brush 250 and the cleaning roller 240, thus achieving coordinated cleaning.

[0028] Specifically, refer to Figure 1 and Figure 3 The transmission unit includes a transmission shaft 263 and two sprockets 262. The transmission shaft 263 is rotatably mounted on the frame 210, and the two sprockets 262 are respectively located at both ends of the transmission shaft 263. The sprockets 262 of the two sets of transmission units are driven by a chain 261. The cleaning roller 240 is connected to the end of the transmission shaft 263. The second drive component 220 can be a motor or a hydraulic rotary drive. The second drive component 220 drives one of the sprockets 262 to rotate. Two chains 261 are provided. Through the chain 261, the chain 261 drives the other sprocket 262 to rotate, realizing the synchronous movement of the four sprockets 262. Multiple brush pieces 251 are all mounted on the chains 261 and are all connected to two chains 261, improving the connection stability of the brush pieces 251. When the chains 261 move, they drive the multiple brush pieces 251 to circulate in a circular direction. In addition, the chain 261 drives the sprocket 262 to rotate, and the sprocket 262 drives the drive shaft 263 to rotate. The drive shaft drives the cleaning roller 240 to rotate, cleaning the coal that is deeply adhered to the bulkhead. At the same time, the brush 251 works together to thoroughly clean the coal adhering to the bulkhead, improving the cleaning effect. It also realizes the synchronous movement of the cleaning roller 240 and the rotating brush 250, achieving coordinated cleaning and ensuring the cleaning effectiveness of the cleaning head.

[0029] In addition, it is also understood that a thrust bearing is provided between the drive shaft 263 and the frame 210, and the frame 210 is provided with a dust cover plate. The dust cover plate covers one end of the thrust bearing to prevent dust, coal and other substances from entering the thrust bearing and reduce the risk of thrust bearing failure.

[0030] Reference Figure 1 and Figure 3It is understood that the cleaning roller 240 includes a roller 242 and multiple cleaning brushes 241. The diameter of the roller 242 gradually decreases away from the drive shaft 263. The multiple cleaning brushes 241 are arranged circumferentially on the outer side of the roller 242 and are detachably mounted on the roller 242. The detachable mounting of the cleaning brushes 241 to the outer side of the roller 242 facilitates replacement when the brushes wear out, ensuring cleaning effectiveness. Furthermore, the gradual decrease in diameter of the roller 242 away from the drive shaft 263 gives the roller 242 an overall frustum shape. The cleaning brushes 241 are inclined on the roller 242, reducing the resistance encountered by the roller 242 during rotation when the robotic arm 300 moves, thus reducing the resistance during cleaning, minimizing the impact on the rotation of the roller 242, improving cleaning efficiency, and shortening cleaning time.

[0031] Reference Figure 1 and Figure 2 Specifically, it can be understood that a positioning plate 243 and a clamping plate 245 are provided on the outer side of the roller 242. A locking screw 244 is provided on the clamping plate 245. The locking screw 244 passes through the clamping plate 245 and is threadedly connected to the positioning plate 243. The locking screw 244 drives the clamping plate 245 and the positioning plate 243 to cooperate in clamping the cleaning brush 241. The locking screw 244 passes through the clamping plate 245 and is threadedly connected to the positioning plate 243, initially connecting the clamping plate 245 and the positioning plate 243. Then, the cleaning brush 241 is placed between the clamping plate 245 and the positioning plate 243. By rotating the locking screw 244, the locking screw 244 drives the clamping plate 245 to move closer to the positioning plate 243. The clamping plate 245, in conjunction with the positioning plate 243, clamps the cleaning brush 241, allowing the cleaning brush 241 to be installed on the roller 242. When replacing the cleaning brush 241, the locking screw 244 is loosened, causing the clamping plate 245 and the positioning plate 243 to release the cleaning brush 241, allowing the worn-out cleaning brush 241 to be removed and replaced with a new cleaning brush 241. This facilitates replacement and maintenance, reducing maintenance costs.

[0032] Reference Figure 1 It is understandable that the frame 210 is equipped with a third drive component 232, and the shovel 231 is hinged to the frame 210. The fixed end of the third drive component 232 is hinged to the robotic arm 300, and the movable end of the third drive component 232 is hinged to the shovel 231. After the cleaning head is switched to the shovel 231, when the shovel 231 is used to clean the dead corners inside the cabin, the third drive component 232 drives the shovel 231 to reciprocate, improving the cleaning effect of coal stuck in the dead corners, shortening the cleaning time, and further improving the cleaning efficiency.

[0033] Reference Figure 1It is understandable that the end of the shovel 231 is flat, and the width of the shovel 231 gradually decreases from the inside to the outside along its length, which makes it easier for the shovel 231 to reach into the dead corners of the cabin, thoroughly clean the coal in the dead corners, and improve the coal cleaning efficiency.

[0034] Reference Figure 4 The robotic arm of the second aspect of the present invention includes a robotic arm 300 and a coal cleaning head for cleaning the ship's hold according to the first aspect of the present invention. The coal cleaning head for cleaning the ship's hold is disposed at the movable end of the robotic arm 300.

[0035] Reference Figure 1 and Figure 4 The working process of this invention is as follows: the robotic arm 300 drives the cleaning head to approach the bulkhead, the second driving component 220 drives the sprocket 262 to rotate, the two sprockets 262 are transmitted through the chain 261, and at the same time the sprocket 262 drives the transmission shaft to rotate, the chain 261 drives the brush 251 to move circumferentially, the transmission shaft 263 drives the roller 242 to rotate, the brush 251 and the roller 242 move synchronously and work together to clean, sweeping away the residual coal on the bulkhead. When encountering the dead corner of the bulkhead, the first driving component 120 drives the frame 210 to rotate, switching to the use of the shovel 231, and the third driving component 232 drives the shovel 231 to reciprocate, so as to remove the residual coal on the dead corner of the bulkhead.

[0036] In summary, this invention provides a cleaning head and robotic arm for cleaning residual coal in a ship's hold. By driving the robotic arm 300 to move, the cleaning head cleans the inside of the hold. The second driving component 220 drives the rotary brush 250 and cleaning roller 240 to rotate, cleaning the loose coal adhering to the hold walls, improving cleaning efficiency and reducing safety risks. At the same time, the first driving component 120 drives the frame 210 to rotate, switching to the use of a shovel 231 to clean the coal adhering to the corners of the hold, improving cleaning efficiency. Simultaneously, the rotary brush 250 and cleaning roller 240 work together to sweep the coal adhering to the hold walls, making it easier for the cleaning machine to push the residual coal to the middle of the hold for secondary grabbing, ensuring that the coal in the hold is thoroughly cleaned and improving cleaning efficiency.

[0037] The above are merely preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and substitutions can be made without departing from the counting principle of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A cleaning head for cleaning residual coal in ship holds, characterized in that, Including: The switching mechanism includes a first drive component and a frame, the frame being mounted on the movable base; The cleaning mechanism includes a second drive component, a rotary brush, a shovel, and cleaning rollers. The second drive component, the rotary brush, the shovel, and the cleaning rollers are all mounted on the frame. The second drive component drives the rotary brush and at least two cleaning rollers to move synchronously. The two cleaning rollers are symmetrically arranged on both sides of the rotary brush. The shovel is movably mounted on the frame.

2. The residual coal cleaning head for ship holds according to claim 1, characterized in that, The rotary brush includes a transmission assembly and multiple brush pieces. The multiple brush pieces are arranged circumferentially along the outer edge of the transmission assembly. The second driving component drives the multiple brush pieces to move circumferentially through the transmission assembly.

3. A cleaning head for cleaning residual coal in a ship's hold according to claim 2, characterized in that, The transmission assembly includes two sets of transmission units, which are symmetrically arranged and connected by a chain. The second drive component drives the two sets of transmission units to move synchronously via the chain, and the brush is mounted on the chain.

4. A coal cleaning head for ship holds according to claim 3, characterized in that, The transmission unit includes a transmission shaft and two sprockets. The transmission shaft is rotatably mounted on the frame. The two sprockets are symmetrically arranged at both ends of the transmission shaft. The second drive component drives one of the transmission shafts to rotate. The two ends of the other transmission shaft are respectively connected to the cleaning roller. Two chains are provided, and the chains mesh with the sprockets.

5. A coal cleaning head for ship holds according to claim 4, characterized in that, A thrust bearing is provided between the drive shaft and the frame, and the frame is provided with a dust cover, which covers one end of the thrust bearing.

6. A coal cleaning head for ship holds according to claim 4, characterized in that, The cleaning roller includes a roller and a plurality of cleaning brushes. The diameter of the roller gradually decreases in the direction away from the drive shaft. The plurality of cleaning brushes are arranged circumferentially on the outer side of the roller and are detachably mounted on the roller.

7. A coal cleaning head for ship holds according to claim 6, characterized in that, A positioning plate and a clamping plate are provided on the outer side of the roller. A locking screw is provided on the clamping plate. The locking screw passes through the clamping plate and is threadedly connected to the positioning plate. The locking screw drives the clamping plate to cooperate with the positioning plate to clamp the cleaning brush.

8. A coal cleaning head for ship holds according to claim 1, characterized in that, The frame is equipped with a third drive component, the shovel is hinged to the frame, the fixed end of the third drive component is hinged to the robotic arm, and the movable end of the third drive component is hinged to the shovel.

9. A coal cleaning head for ship holds according to claim 8, characterized in that, The end of the shovel is generally flat, and the width of the shovel gradually decreases from the inside to the outside along its length.

10. A robotic arm for cleaning residual coal in a ship's hold, characterized in that, It includes a robotic arm and a coal cleaning head for the ship's hold as described in any one of claims 1 to 9, wherein the coal cleaning head for the ship's hold is disposed at the movable end of the robotic arm.

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