Cement silo cleaning robot

Abstract

The utility model relates to the technical field of cement silo cleaning, in particular to a cement silo cleaning robot, and aims to solve the problems that an existing cement silo cleaning robot is large in dead weight, high in cost and inconvenient to use in order to guarantee stable supporting. The cleaning device comprises a supporting mechanism and a cleaning mechanism, the cleaning mechanism is arranged below the supporting mechanism and can rotate around the axis of the cleaning mechanism. The supporting mechanism comprises two symmetrically-arranged supporting units, each supporting unit comprises a tooth-shaped plate, and the tooth face of each tooth-shaped plate abuts against the side wall of the cement silo. The cleaning mechanism comprises a cleaning unit, the cleaning unit comprises a milling head, and the milling head is used for crushing cement blocks. According to the supporting mechanism, the tooth-shaped plate is additionally arranged to abut against the side wall of the cement silo to form meshing, friction force and anchoring force are increased, and the stability of the cement silo cleaning robot can be guaranteed only through two supporting units of the supporting mechanism. Therefore, the number of the supporting units is reduced, the dead weight and the manufacturing cost of the equipment are reduced, and the use convenience is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cement silo cleaning, in particular to a cement silo cleaning robot. Background Art

[0002] Existing cement silo cleaning robots are positioned in the cement silo by means of wire rope suspension, and are fixed by a support unit pressing against the side wall of the cement silo to prevent tilting, displacement, jumping, etc. during the cleaning process due to the influence of reaction force, thereby reducing the cleaning effect. To ensure the fixing effect, at least four support units need to be provided to abut against the side wall of the cement silo to ensure stability, resulting in a heavy self-weight, high cost and inconvenient use of the cement silo cleaning robot. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a cement silo cleaning robot to solve the problems of heavy self-weight, high cost and inconvenient use of existing cement silo cleaning robots due to ensuring stable support.

[0004] To solve the above technical problems, the technical solution provided by the utility model lies in:

[0005] A cement silo cleaning robot includes a support mechanism and a cleaning mechanism; the cleaning mechanism is arranged below the support mechanism and can rotate around its own axis;

[0006] The support mechanism includes two symmetrically arranged support units, and each support unit includes a toothed plate, and the toothed surface of the toothed plate abuts against the side wall of the cement silo;

[0007] The cleaning mechanism includes a cleaning unit, and the cleaning unit includes a milling head for crushing cement blocks.

[0008] Further, the support unit further includes a first connecting arm and a first base arm;

[0009] One end of the first connecting arm is connected to the toothed plate, and the other end is slidably connected to the first base arm to change the length of the support unit.

[0010] Further, the first connecting arm includes a plurality of connecting rods connected in sequence.

[0011] Further, the support mechanism further includes a support frame, and the support unit further includes a first telescopic rod;

[0012] One end of the first base arm away from the first connecting arm is hinged to the support frame;

[0013] One end of the first telescopic rod is hinged to the support frame, and the other end is hinged to the first base arm for driving the first base arm to swing.

[0014] Furthermore, the support unit further includes a second telescopic rod. One end of the second telescopic rod is connected to the first base arm, and the other end is connected to the first connecting arm, for driving the first connecting arm to slide along its own length direction.

[0015] Furthermore, the cleaning unit further includes a second connecting arm and a second base arm;

[0016] One end of the second connecting arm is connected to the milling head, and the other end is slidably connected to the second base arm to change the length of the cleaning unit.

[0017] Furthermore, the cleaning mechanism further includes a cleaning frame, and the cleaning unit further includes a third telescopic rod;

[0018] One end of the second base arm away from the second connecting arm is hinged to the cleaning frame;

[0019] One end of the third telescopic rod is hinged to the cleaning frame, and the other end is hinged to the second base arm, for driving the second base arm to swing.

[0020] Furthermore, the cleaning unit further includes a fourth telescopic rod. One end of the fourth telescopic rod is connected to the second base arm, and the other end is connected to the second connecting arm, for driving the second connecting arm to slide along its own length direction.

[0021] Furthermore, the milling head includes a cutter head and a protective cover. The cutter head rotates around its own axis to break the cement blocks;

[0022] The protective cover is set as a semi-circular cover and is coaxially arranged with the cutter head, for blocking the broken cement blocks.

[0023] Furthermore, the cement silo cleaning robot further includes a vacuum adsorption unit. The vacuum adsorption unit is communicated with the protective cover, for sucking the broken cement blocks.

[0024] Integrating the above technical solutions, the technical effects that the present utility model can achieve are as follows:

[0025] The cement silo cleaning robot provided by the present utility model includes a support mechanism and a cleaning mechanism; the cleaning mechanism is arranged below the support mechanism and can rotate around its own axis; the support mechanism includes two symmetrically arranged support units, and the support unit includes a toothed plate, and the tooth surface of the toothed plate abuts against the side wall of the cement silo; the cleaning mechanism includes a cleaning unit, and the cleaning unit includes a milling head, and the milling head is used for breaking the cement blocks.

[0026] Since the cement silo cleaning robot provided by the present utility model forms an occlusion by adding a toothed plate in contact with the side wall of the cement silo to increase the friction and anchoring force, only two support units are required for the support mechanism to ensure the stability of the cement silo cleaning robot. Therefore, the number of support units is reduced, the self-weight and manufacturing cost of the equipment are lowered, and the convenience of use is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic structural diagram of the cement silo cleaning robot provided by an embodiment of the present utility model;

[0029] Figure 2 It is a schematic structural diagram of the toothed plate;

[0030] Figure 3 It is a schematic structural diagram of the milling head.

[0031] Reference numerals: 110 - support unit; 120 - support frame; 111 - toothed plate; 112 - first connecting arm; 113 - first base arm; 114 - first telescopic rod; 115 - second telescopic rod; 210 - cleaning unit; 220 - cleaning frame; 211 - milling head; 212 - second connecting arm; 213 - second base arm; 214 - third telescopic rod; 215 - fourth telescopic rod; 201 - cutter head; 202 - protective cover; 203 - tool holder. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In order to make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

[0034] The following will describe in detail some embodiments of the present utility model in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0035] Existing cement silo cleaning robots are positioned in the cement silo by means of wire rope suspension, and are fixed by pressing against the side wall of the cement silo through a support unit to prevent tilting, displacement, jumping, etc. during the cleaning process due to the influence of reaction force, thereby reducing the cleaning effect. To ensure the fixing effect, at least four support units need to be provided to abut against the side wall of the cement silo to ensure stability, resulting in a heavy self-weight, high cost and inconvenient use of the cement silo cleaning robot.

[0036] In view of this, the present utility model provides a cement silo cleaning robot, which includes a support mechanism and a cleaning mechanism; the cleaning mechanism is arranged below the support mechanism and can rotate around its own axis; the support mechanism includes two symmetrically arranged support units 110, and the support unit 110 includes a toothed plate 111, and the toothed surface of the toothed plate 111 abuts against the side wall of the cement silo; the cleaning mechanism includes a cleaning unit 210, and the cleaning unit 210 includes a milling head 211, and the milling head 211 is used for crushing cement blocks.

[0037] Since the cement silo cleaning robot provided by the present utility model forms an engagement by adding a toothed plate 111 to abut against the side wall of the cement silo, increasing the friction force and the anchoring force, so that the support mechanism only needs two support units 110 to ensure the stability of the cement silo cleaning robot, therefore, the number of support units 110 is reduced, the self-weight of the equipment and the manufacturing cost are reduced, and the convenience of use is improved.

[0038] The following will describe in detail Figures 1 - 3 the structure and shape of the cement silo cleaning robot provided in this embodiment:

[0039] The cement silo cleaning robot provided in this embodiment includes a support mechanism, a cleaning mechanism, a slewing bearing and a driving motor. The cleaning mechanism is connected to the lower part of the support mechanism through a turntable; the driving motor is installed on the support mechanism, and the output shaft is connected to the cleaning mechanism for driving the cleaning mechanism to rotate around its own axis.

[0040] In this embodiment, the support mechanism includes a support unit 110 and a support frame 120. Two support units 110 are symmetrically arranged and connected to the support frame 120, and the driving motor is installed on the support frame 120. Specifically, the support unit 110 includes a toothed plate 111, a first connecting arm 112, a first base arm 113, a first telescopic rod 114 and a second telescopic rod 115, as Figure 1 shown.

[0041] Specifically, one end of the first connecting arm 112 is connected to the toothed plate 111, and the other end is slidably connected to the first base arm 113. The end of the first base arm 113 away from the first connecting arm 112 is hinged to the support frame 120. One end of the first telescopic rod 114 is hinged to the support frame 120, and the other end is hinged to the first base arm 113, which is used to drive the first base arm 113 to swing. One end of the second telescopic rod 115 is connected to the first base arm 113, and the other end is connected to the first connecting arm 112, which is used to drive the first connecting arm 112 to slide along its own length direction.

[0042] In this embodiment, the structure of the toothed plate 111 is as Figure 2 shown. A serrated structure is provided on the side in contact with the side wall of the cement silo, which is used to bite with the side wall of the cement silo to improve the bonding force and ensure stability.

[0043] In this embodiment, the first connecting arm 112 includes a plurality of connecting rods connected in sequence. By increasing or decreasing the number of connecting rods, the length of the first connecting arm 112 can be adjusted, so that the cement silo cleaning robot can adapt to cement silos with different diameters.

[0044] In an alternative solution of this embodiment, the first connecting arm 112 is inserted into the first base arm 113, and a linear guide rail is provided between the two to ensure smooth telescoping and reliable connection.

[0045] In an alternative solution of this embodiment, the first connecting arm 112 is inserted into the first base arm 113, and rollers are provided on the first connecting arm 112, and the rollers are in rolling contact with the inner surface of the first base arm 113.

[0046] In this embodiment, the cleaning mechanism includes a cleaning unit 210 and a cleaning frame 220. At least two cleaning units 210 are evenly distributed annularly around the axis of the cleaning frame 220. In this embodiment, the more the number of cleaning units 210, the more conducive to improving the cleaning speed, but it will increase the equipment self-weight, running resistance, friction and other losses, with a large motor load and high energy consumption; using two cleaning units 210 can not only ensure the stability and balance during operation, but also help to reduce the load, but the cleaning speed is relatively low.

[0047] In this embodiment, the cleaning unit 210 includes a milling head 211, a second connecting arm 212, a second base arm 213, a third telescopic rod 214 and a fourth telescopic rod 215, as Figure 1 shown. One end of the second connecting arm 212 is connected to the milling head 211, and the other end is slidably connected to the second base arm 213. The end of the second base arm 213 away from the second connecting arm 212 is hinged to the cleaning frame 220. The cleaning frame 220 and the support frame 120 are connected by a turntable bearing to achieve relative rotation, and the output shaft of the driving motor drives the cleaning frame 220 to rotate.

[0048] In this embodiment, one end of the third telescopic rod 214 is hinged to the cleaning frame 220, and the other end is hinged to the second base arm 213, which is used to drive the second base arm 213 to swing. One end of the fourth telescopic rod 215 is connected to the second base arm 213, and the other end is connected to the second connecting arm 212, which is used to drive the second connecting arm 212 to slide along its own length direction.

[0049] In an alternative solution of this embodiment, the second connecting arm 212 is inserted into the second base arm 213, and a linear guide rail is provided between the two to ensure smooth telescoping and reliable connection.

[0050] In an alternative solution of this embodiment, the second connecting arm 212 is inserted into the second base arm 213, and rollers are provided on the second connecting arm 212, and the rollers are in rolling contact with the inner surface of the second base arm 213.

[0051] In this embodiment, the milling head 211 includes a cutter head 201, a protective cover 202 and a cutter holder 203. As Figure 3 shown, the cutter head 201 is rotatably mounted on the cutter holder 203 and can rotate around its own axis driven by a motor to break the cement blocks. The protective cover 202 is connected to the cutter holder 203, and is set as a semi-circular protective cover and coaxially arranged with the cutter head 201, which is used to block the broken cement blocks and prevent the splashing of a large amount of smoke and dust and particulate fragments.

[0052] To further avoid smoke and dust and splashing, the cement silo cleaning robot further includes a vacuum adsorption unit, and the vacuum adsorption unit is communicated with the protective cover 202, which is used to suck the broken cement blocks, so as to be beneficial to environmental safety and beneficial to observing the cleaning situation.

[0053] In this implementation, each telescopic rod is set as a hydraulic cylinder to provide sufficient supporting force.

[0054] The working process of the cement silo cleaning robot provided by this embodiment is as follows:

[0055] The cement silo cleaning robot is lowered to an appropriate position in the cement silo in a suspended manner. The second telescopic rod 115 extends to drive the first connecting arm 112 to extend, and then the toothed plate 111 abuts against the side wall of the cement silo and engages with the side wall of the cement silo to complete the fixation of the cement silo cleaning robot.

[0056] The milling head 211 starts the cleaning work. The fourth telescopic rod 215 expands and contracts to drive the movement of the milling head 211 and the second connecting arm 212, thereby adjusting the cleaning position of the milling head 211. When it is necessary to adjust the cleaning height, the third telescopic rod 214 expands and contracts to change the angle between the second connecting arm 212 and the second base arm 213; it should be noted that the angle of the milling head 211 should also change accordingly at this time. The milling head 211 can be connected to the second connecting arm 212 through a rotating motor, or the milling head 211 is hinged to the second connecting arm 212 and a telescopic rod is provided to drive the milling head 211 to swing. The two ends of this telescopic rod are respectively hinged to the milling head 211 and the second connecting arm 212.

[0057] When the milling head 211 is working, the vacuum adsorption unit sucks out the soot and debris, so as to facilitate observing the cleaning progress and cleaning the debris for subsequent cleaning.

[0058] In this embodiment, the first telescopic rod 114 can change the angle between the first base arm 113 and the first connecting arm 112, thereby facilitating the support unit 110 to enter and exit the cement silo and improving the passability of the cement silo cleaning robot, reducing the space occupation.

[0059] The cement silo cleaning robot provided in this embodiment is used for cleaning the cement silo and is installed in the cement silo in a hanging manner. Structurally, it is a double-layer structure. The upper-layer robotic arm can achieve amplitude variation and telescoping through the expansion and contraction of the first telescopic rod 114 and the second telescopic rod 115. A tooth-shaped support plate 111 is installed at the end to prevent sliding after being stressed. The robotic arm composed of the first connecting arm 112 and the first base arm 113 can be arbitrarily configured with the number of connecting rods to adapt to cement silos of different diameters. The upper-layer structure and the lower-layer structure are connected by a slewing bearing, and the relative rotation of the upper and lower two-layer structures can be realized. The lower-layer robotic arm can achieve amplitude variation and telescoping functions through the expansion and contraction of the third telescopic rod 214 and the fourth telescopic rod 215. A milling head 211 is configured at the end to clean the silo wall and the silo bottom. A pipeline for docking with the negative pressure pipeline is designed on the milling head 211, and the crushed materials can be pumped and cleaned.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cement warehouse clearing robot, characterized in that: It includes a supporting mechanism and a cleaning mechanism; the cleaning mechanism is arranged below the supporting mechanism and can rotate around its own axis; The support mechanism comprises two symmetrically arranged support units (110), wherein the support unit (110) comprises a toothed plate (111), and the toothed surface of the toothed plate (111) abuts against the side wall of the cement silo; The cleaning mechanism comprises a cleaning unit (210), wherein the cleaning unit (210) comprises a milling head (211), and the milling head (211) is used for crushing cement blocks.

2. The cement warehouse clearing robot according to claim 1 is characterized in that: The support unit (110) further comprises a first connecting arm (112) and a first base arm (113); One end of the first connecting arm (112) is connected to the toothed plate (111), and the other end is slidably connected to the first base arm (113) to change the length of the supporting unit (110).

3. The cement warehouse clearing robot according to claim 2 is characterized in that: The first connecting arm (112) comprises a plurality of connecting rods connected in sequence.

4. The cement warehouse clearing robot according to claim 2, characterized in that: The support mechanism further comprises a support frame (120), and the support unit (110) further comprises a first telescopic rod (114); One end of the first base arm (113) away from the first connecting arm (112) is hinged to the support frame (120); One end of the first telescopic rod (114) is hinged to the support frame (120), and the other end is hinged to the first base arm (113), so as to drive the first base arm (113) to swing.

5. The cement warehouse clearing robot according to claim 4 is characterized in that: The support unit (110) further comprises a second telescopic rod (115), one end of the second telescopic rod (115) being connected to the first base arm (113), and the other end of the second telescopic rod (115) being connected to the first connecting arm (112), and being used for driving the first connecting arm (112) to slide along its own length direction.

6. The cement warehouse clearing robot according to claim 1, characterized in that: The cleaning unit (210) further comprises a second connecting arm (212) and a second base arm (213); One end of the second connecting arm (212) is connected to the milling head (211), and the other end is slidably connected to the second base arm (213) to change the length of the cleaning unit (210).

7. The cement warehouse clearing robot according to claim 6, characterized in that: The cleaning mechanism further comprises a cleaning frame (220), and the cleaning unit (210) further comprises a third telescopic rod (214); One end of the second base arm (213) away from the second connecting arm (212) is hinged to the cleaning frame (220); One end of the third telescopic rod (214) is hinged to the cleaning frame (220), and the other end is hinged to the second base arm (213), so as to drive the second base arm (213) to swing.

8. The cement warehouse clearing robot according to claim 7, characterized in that: The cleaning unit (210) further comprises a fourth telescopic rod (215), one end of the fourth telescopic rod (215) being connected to the second base arm (213), and the other end of the fourth telescopic rod (215) being connected to the second connecting arm (212), and being used for driving the second connecting arm (212) to slide along its own length direction.

9. The cement warehouse clearing robot according to claim 1, characterized in that: The milling head (211) comprises a cutter head (201) and a protective cover (202); the cutter head (201) rotates around its own axis to break cement blocks; The protective cover (202) is configured as a semicircular protective cover and is coaxially arranged with the cutter head (201) to block the broken cement blocks.

10. The cement warehouse clearing robot according to claim 9, characterized in that: It also comprises a vacuum adsorption unit, which is connected to the protective cover (202) and is used for sucking the broken cement blocks.

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